* NODE DOCUMENTATION *

Categories of available FlowDesigner Nodes

* RobotFlow:Vision:Tracking	* RobotFlow:MARIE:IO
* RobotFlow:Vision:OpenCV	* RobotFlow:MARIE:DATA
* RobotFlow:Vision:FeaturesExtraction	* RobotFlow:MARIE:COMMAND
* RobotFlow:Vision:Detection	* RobotFlow:LABORIUS
* RobotFlow:Vision	* RobotFlow:Generic
* RobotFlow:Robots	* RobotFlow:FSM
* RobotFlow:Probes	* RobotFlow:EMIB
* RobotFlow:Pioneer2	* RobotFlow:Devices
* RobotFlow:MARIE:REQUEST	* RobotFlow:Control
* RobotFlow:MARIE:LOGIC	* RobotFlow:Behaviors

Categories:

* RobotFlow:Vision:Tracking (9)

List of available FlowDesigner nodes

* DrawPFParticle	* MultiIntegralCuesPFTracker	* PFState2VisualROI
* GetVisualROIParam	* PFGenericParticleFilter	* VisualTargetManager
* MeanShiftTracker	* PFPMRandomWalk	* VisualTargetPFInterface

See next category: RobotFlow:Vision:OpenCV

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DrawPFParticle (RobotFlow:Vision:Tracking)

Draws particle state as a visual ROI in current image.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current image to use.
IN_ROI	VisualROI	Current particle to draw.
Outputs	OUT_IMAGE	Image	Resulting image with particles drawn.
OUT_ROI	VisualROI	Current ROI.
PREPROCESS_COMPLETED	int	Output to force preprocessing.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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GetVisualROIParam (RobotFlow:Vision:Tracking)

Interface to get the member data of a VisualROI.

	NAME	TYPE	MEANING
Inputs	IN_ROI	VisualROI	Current region of interest.
Outputs	CENTER_X	Int	Center position (X).
CENTER_Y	Int	Center position (Y).
HALF_WIDTH	Int	Region half width.
HALF_HEIGHT	Int	Region half height.
ANGLE	Int	Region angle (in degrees).
Parameters	none	none	none

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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MeanShiftTracker (RobotFlow:Vision:Tracking)

Mean shift region/object tracker.

	NAME	TYPE	MEANING
Inputs	IMAGE_IN	Image	Current video frame.
PREPROCESS_COMPLETED	Vector	Flags indicating the completion of the features extraction preprocessing stage.
CURRENT_TARGET	VisualTarget	Current target to track.
MS_LOCATION	Vector	Mean shift vector of location.
Outputs	TRACKING_FINISHED	bool	Flag indicating that the tracking has completed.
IMAGE_OUT	Image	Current image to process.
CURRENT_TARGET	VisualTarget	Current target being tracked (to compute mean shift location).
TRACKED_TARGET	Image	Target updated according to the tracking algorithm.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.
MAX_NUM_MS_ITER	int	Maximum number of mean shift iterations.
MS_DIST_EPSILON	float	Minimal distance to consider that the mean shift has found a maximum.

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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MultiIntegralCuesPFTracker (RobotFlow:Vision:Tracking)

Full tracker implementation using different types of integral features.

	NAME	TYPE	MEANING
Inputs	INIT_VARIANCE	Vector	Variance for initialization of each of the particle state.
NOISE_VARIANCE	Vector	Noise variance for each of the particle state.
IMAGE_IN	Image	Current video frame.
DETECTED_ROI	VisualROI	A region of interest detected as a potential target region.
EDGES_ORI_SUM_IMG	Vector	Reference to edges orientation integral images. While reference is not null, no edges preprocessing will be done.
SHOW_TRACKED_ROI	bool	Flag indicating to show the current tracked region.
FRAME_BASENAME	string	Path and basename for the frames filename that will be produced as an output.
ACTIVATION	bool	Node activation flag.
Outputs	IMAGE_OUT	Image	Current image with identified target.
CURRENT_ROI	VisualROI	Current region of interest corresponding to the tracked target.
CURRENT_TARGET	VisualTarget	Current target to track.
TARGET_PROB	float	Current target likelihood at current tracked position.
ROI_FOR_DETECTION	VisualROI	Current region of interest corresponding to the tracked target. IMPORTANT NOTE: Do not pull ROI_FOR_DETECTION output first since this will result in the output to be not synchoronized with the frames and the tracking process.
FRAME_FILENAME	string	Filename for the current frame to save.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.
TARGET_MATCH_THRES	float	Minimum confidence to assume a target match.
TARGET_ADAPT_THRES	float	Adaptation treshold for each target cue model.
TARGET_ADAPT_RATE	float	Adaptation rate for each target cue model.
CUE_ADAPT_RATE	float	Adaptation rate for each cue weight.
LIKELIHOOD_SIGMA	float	Exponential sigma value to discriminate likelihood.
NUM_HORI_RECT	int	Number of horizontal rectangle to use for integral features.
NUM_VERT_RECT	int	Number of vertical rectangle to use for integral features.
USE_RECT_DIFF	bool	Features are differences between rectangle regions.
USE_COLOR_BOUNDARY	bool	Flag indicating to detect a color boundary for a better scale adaptation.
BOUNDARY_DIFF_THRESH	float	Minimum difference between boundary and ROI rectangle mean values.
NUM_ORIENTATIONS	int	Number of edge orientations.
MIN_EDGES_STRENGTH	float	Threshold to remove noisy/weak edges.
MAX_EDGES_STRENGTH	float	Limit on the edge strength.
NUM_PARTICLES	int	Number of particles (samples) to use.
PARTICLE_STATE_SIZE	int	Particle state size.
COLOR_CUE_WEIGHT	float	Color features weight.
EDGES_CUE_WEIGHT	float	Color features weight.
LBP_CUE_WEIGHT	float	Color features weight.
REDETECTION_FREQUENCY	int	Frequency of application of redetection of current tracked region (in number of frames).

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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PFGenericParticleFilter (RobotFlow:Vision:Tracking)

Generic implementation of a particle filter.

	NAME	TYPE	MEANING
Inputs	INIT_VARIANCE	Vector	Variance for initialization of each of the particle state.
REFERENCE_MEAN_STATE	PFGenericParticle	Current reference mean state to track.
PREDICT_COMPLETED	bool	Flag indicating the success of the prediction.
PARTICLE_LIKELIHOOD	float	Resulting measurement likelihood for current particle.
Outputs	FILTERING_FINISHED	bool	Flag indicating that the tracking has completed.
CURRENT_PARTICLE	PFGenericParticle	Current particle (sample) to apply prediction model.
TRACKED_MEAN_STATE	PFGenericParticle	Resulting mean state after particle filtering.
Parameters	NUM_PARTICLES	int	Number of particles (samples) to use.
PARTICLE_STATE_SIZE	int	Particle state size.

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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PFPMRandomWalk (RobotFlow:Vision:Tracking)

Random walk prediction model for particle filters.

	NAME	TYPE	MEANING
Inputs	NOISE_VARIANCE	Vector	Noise variance for each of the particle state.
CURRENT_PARTICLE	PFGenericParticle	Current particle (sample) to apply prediction model.
Outputs	PREDICT_COMPLETED	bool	Flag indicating the success of the prediction.
Parameters	none	none	none

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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PFState2VisualROI (RobotFlow:Vision:Tracking)

Conversion from a particle filter sample (dynamic state) to a VisualROI object.

	NAME	TYPE	MEANING
Inputs	IN_PARTICLE	PFGenericParticle	Current ROI to convert.
Outputs	OUT_ROI	VisualROI	Resulting particle with appropriate state.
Parameters	USE_SCALE	bool	Flag indicating to use the ROI scale (width and height) in the particle's state.
USE_ROTATION_ANGLE	bool	Flag indicating to use the ROI rotation angle in the particle's state.
ROI_REGION_TYPE	int	Geometric type for the ROI region (refer to enum e_VISUALROI_type in VisualROI.h).

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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VisualTargetManager (RobotFlow:Vision:Tracking)

Target manager to handle target initialization, adaptation and deletion.

	NAME	TYPE	MEANING
Inputs	IMAGE_IN	Image	Current video frame.
PREPROCESS_COMPLETED	Vector	Flags indicating the completion of the features extraction preprocessing stage.
DETECTED_ROI	VisualROI	A region of interest detected as a potential target region.
FEATURES_VECTOR	Vector *>	Features descriptors vector (probably requested to adapt or init a target)
TRACKED_TARGET	VisualTarget	An updated target by a tracking routine.
Outputs	IMAGE_OUT	Image	Current image with identified target.
CURRENT_ROI	VisualROI	Current region of interest to extract features.
CURRENT_TARGET	VisualTarget	Current target to track.
TARGET_PROB	double	Current target likelihood at current tracked position.
TARGET_DELTA_X	float	Current target position relative to the image x center.
TARGET_DELTA_Y	float	Current target position relative to the image y center.
FRAME_NAME	string	Current frame name for saving purposes.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.
MAX_NUM_TARGET	int	Maximum number of target to keep track of.
TARGET_MATCH_THRES	float	Minimum confidence to assume a target match.
TARGET_ADAPT_THRES	float	Adaptation treshold for each target cue model.
TARGET_ADAPT_RATE	float	Adaptation rate for each target cue model.
CUE_ADAPT_RATE	float	Adaptation rate for each cue weight.
LIKELIHOOD_SIGMA	float	Exponential sigma value to discriminate likelihood.

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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VisualTargetPFInterface (RobotFlow:Vision:Tracking)

Interface for tracking a VisualTarget using a particle filter framework.

	NAME	TYPE	MEANING
Inputs	IN_TARGET	VisualTarget	Current VisualTarget to convert.
IN_FEATURES_VECTOR	Vector *>	Features descriptors vector (to compute a particle likelihood).
IN_MEAN_STATE	PFGenericParticle	Mean state particle resulting from partcile filter tracking.
PREPROCESS_COMPLETED	Vector	Flags indicating the completion of the features extraction preprocessing stage.
FILTERING_FINISHED	bool	Flags indicating the completion of the particle filtering stage.
Outputs	OUT_PARTICLE	PFGenericParticle	Resulting particle with appropriate state.
OUT_LIKELIHOOD	float	Current particle likelihood.
OUT_TARGET	VisualTarget	Resulting tracked target.
TRACKING_FINISHED	bool	Flag indicating that the tracking has completed.
Parameters	USE_SCALE	bool	Flag indicating to use the ROI scale (width and height) in the particle's state.
USE_ROTATION_ANGLE	bool	Flag indicating to use the ROI rotation angle in the particle's state.
LIKELIHOOD_SIGMA	float	Exponential sigma value to discriminate likelihood.

Return to: RobotFlow:Vision:Tracking

See next category: RobotFlow:Vision:OpenCV

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* RobotFlow:Vision:OpenCV (1)

List of available FlowDesigner nodes

* TextSignDetect

See next category: RobotFlow:Vision:FeaturesExtraction

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TextSignDetect (RobotFlow:Vision:OpenCV)

Determine the contours in the input image.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current color frame to process.
IN_TRACKED_ROI	VisualROI	Region of interest currently tracked.
ACTIVATION	bool	processing activation flag
Outputs	TEXT_ROI_IMG	Image	Image with potential text region of interest drawn.
OUT_ROI	VisualROI	Region of interest corresponding to largest region of text.
EDGES_ORI_SUM_IMG	Vector	Reference to edges orientation integral images.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Video frame number of channels.
NUM_ORIENTATIONS	int	Number of bins for the local edge histogram.
EDGES_STRENGTH_THRESHOLD	float	Threshold to remove noisy/weak edges.
TEXT_ROI_MIN_WIDTH	int	Minimal width of a potential region of interest to consider it as text.
TEXT_ROI_MIN_HEIGHT	int	Minimal height of a potential region of interest to consider it as text.
TEXT_ROI_MAX_WIDTH	int	Maximal width of a potential region of interest to consider it as text.
TEXT_ROI_MAX_HEIGHT	int	Maximal height of a potential region of interest to consider it as text.
MAX_STD_ORIENTATION_BINS	float	Maximal standard deviation of the local edge orientation histogram bins heightEdges orientation histogram of a potential region of interest to consider it as text.
MAX_NUM_TEXT_ROI	int	Maximum number of text region of interest to use.
MAX_STD	float	Low threshold used for edge searching.
MIN_DIST	float	High threshold used for edge searching.
HORIZONTAL_SYMMETRY_THRESHOLD	float	Horizontal edge orientation symmetry treshold. Text region should have lower values than threshold.
VERTICAL_SYMMETRY_THRESHOLD	float	Vertical edge orientation symmetry treshold. Text region should have lower values than threshold.

Return to: RobotFlow:Vision:OpenCV

See next category: RobotFlow:Vision:FeaturesExtraction

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* RobotFlow:Vision:FeaturesExtraction (4)

List of available FlowDesigner nodes

* ColorHistExtraction	* IntegralEdgesOriExtraction
* IntegralColorExtraction	* IntegralLBPExtraction

See next category: RobotFlow:Vision:Detection

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ColorHistExtraction (RobotFlow:Vision:FeaturesExtraction)

Color histogram features extraction.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current frame to process.
NUM_BINS	Vector	Number of bins for each dimension of the histogram.
CURRENT_ROI	VisualROI	The current region of interest.
CURRENT_TARGET	VisualTarget	The current target to estimate the mean shif location.
TARGET_DESC_IDX	int	The corresponding descriptor index in the current target descriptors vector.
PREPROCESS_FRAME	bool	Flag indicating to preprocess a new image.
Outputs	OUT_FEATURES	Vector *>	Output features descriptor.
OUT_MS_LOCATION	Vector	Mean shift vector of location.
PREPROCESS_COMPLETED	int	Output to force preprocessing.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.

Return to: RobotFlow:Vision:FeaturesExtraction

See next category: RobotFlow:Vision:Detection

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IntegralColorExtraction (RobotFlow:Vision:FeaturesExtraction)

Integral color features extraction.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current frame to process.
CURRENT_ROI	VisualROI	The current region of interest.
PREPROCESS_FRAME	bool	Flag indicating to preprocess a new image.
Outputs	OUT_FEATURES	Vector *>	Output features descriptor.
PREPROCESS_COMPLETED	int	Output to force preprocessing.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.
NUM_HORI_RECT	int	Number of horizontal rectangle to use for integral features.
NUM_VERT_RECT	int	Number of vertical rectangle to use for integral features.
USE_RECT_DIFF	bool	Features are differences between rectangle regions.
USE_BOUNDARY_DIFF	bool	Flag indicating to detect a color boundary for a better scale adaptation.
BOUNDARY_DIFF_THRESH	float	Minimum difference between boundary and ROI rectangle mean values.

Return to: RobotFlow:Vision:FeaturesExtraction

See next category: RobotFlow:Vision:Detection

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IntegralEdgesOriExtraction (RobotFlow:Vision:FeaturesExtraction)

Integral edges orientation features extraction.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current frame to process.
CURRENT_ROI	VisualROI	The current region of interest.
PREPROCESS_FRAME	bool	Flag indicating to preprocess a new image.
Outputs	OUT_FEATURES	Vector *>	Output features descriptor.
PREPROCESS_COMPLETED	int	Output to force preprocessing.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.
NUM_ORIENTATIONS	int	Number of edge orientations.
NUM_CHANNELS	int	Number of channels in video frame.
NUM_HORI_RECT	int	Number of horizontal rectangle to use for integral features.
NUM_VERT_RECT	int	Number of vertical rectangle to use for integral features.
MIN_EDGES_STRENGTH	float	Threshold to remove noisy/weak edges.
MAX_EDGES_STRENGTH	float	Limit on the edge strength.
USE_RECT_DIFF	bool	Features are differences between rectangle regions.

Return to: RobotFlow:Vision:FeaturesExtraction

See next category: RobotFlow:Vision:Detection

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IntegralLBPExtraction (RobotFlow:Vision:FeaturesExtraction)

Integral LBP (Local Binary Pattern) features extraction.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current frame to process.
CURRENT_ROI	VisualROI	The current region of interest.
PREPROCESS_FRAME	bool	Flag indicating to preprocess a new image.
Outputs	OUT_FEATURES	Vector *>	Output features descriptor.
PREPROCESS_COMPLETED	int	Output to force preprocessing.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
NUM_CHANNELS	int	Number of channels in video frame.
NUM_HORI_RECT	int	Number of horizontal rectangle to use for integral features.
NUM_VERT_RECT	int	Number of vertical rectangle to use for integral features.
NUM_SAMPLES	int	Number of samples in the circle in order to compute the LBP.
PREDICATE	int	Radius of the sample circle.
DO_INTERPOLATION_FLAG	bool	Flag to use bilinear interpolation for sub-pixel samples.
UNIFORM_PATTERNS_ONLY	bool	Use only rotation invariant uniform (riu2) patterns. (A false value will require an immense amount of memory!)
PATTERN_INIT_ANGLE	int	Starting angle for the pattern. Used only by the general LBP routine.
USE_RECT_DIFF	bool	Features are differences between rectangle regions.

Return to: RobotFlow:Vision:FeaturesExtraction

See next category: RobotFlow:Vision:Detection

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* RobotFlow:Vision:Detection (3)

List of available FlowDesigner nodes

* CvFaceDetection

* SkinColorGMMSegm

* SkinColorHistSegm

See next category: RobotFlow:Vision

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CvFaceDetection (RobotFlow:Vision:Detection)

Haar cascade classifier applied to face recognition using OpenCV.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current grayscale frame to process.
IN_SKIN_MASK	Image	Current skin color segmentation result.
IN_TRACKED_ROI	VisualROI	Region of interest currently tracked.
ACTIVATION	bool	Node activation flag.
Outputs	OUT_ROI	VisualROI	Region of interest corresponding to current model.
Parameters	FRAME_WIDTH	int	Video frame width.
FRAME_HEIGHT	int	Video frame height.
MAX_NUM_SKIN_REGIONS	int	Maximum number of skin regions to search for faces in a frame.
MIN_SKIN_ROI_WIDTH	int	Minimum width of a skin region to consider for face detection.
MIN_SKIN_ROI_HEIGHT	int	Minimum height of a skin region to consider for face detection.

Return to: RobotFlow:Vision:Detection

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SkinColorGMMSegm (RobotFlow:Vision:Detection)

Skin segmentation based on gaussian mixture models in the r-b color space.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current color frame to process.
ACTIVATION	bool	Node activation flag.
Outputs	SEGMENTED_IMAGE	Image	Segmented image output.
Parameters	FRAME_WIDTH	int	Width of video frames.
FRAME_HEIGHT	int	Height of video frames.
SKIN_GMM_FILENAME	string	Filename (including path) of the skin GMM model file.
SKIN_SCORE_THRESHOLD	float	Threshold for skin model score to consider a pixel as skin.

Return to: RobotFlow:Vision:Detection

See next category: RobotFlow:Vision

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SkinColorHistSegm (RobotFlow:Vision:Detection)

Skin segmentation based on bayesian classification using color histogram models.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current color frame to process.
ACTIVATION	bool	Node activation flag.
Outputs	PROB_MAP_IMAGE	Image	Skin probability map image output.
SEGMENTED_IMAGE	Image	Segmented image output.
Parameters	FRAME_WIDTH	int	Width of video frames.
FRAME_HEIGHT	int	Height of video frames.
MODELS_PATH	string	Path where the files nonSkinHistogram.txt and SkinNonSkinHistogram.txt are present.
SKIN_PROBABILITY_PRIOR	float	Prior skin probability to consider a pixel as skin.
SKIN_PROBABILITY_THRESHOLD	float	Threshold for skin probability to consider a pixel as skin.

Return to: RobotFlow:Vision:Detection

See next category: RobotFlow:Vision

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* RobotFlow:Vision (45)

List of available FlowDesigner nodes

* BMPLoad	* ImageOr	* RGBMerge
* BMPSave	* InverseHough	* RGBSplit
* Binarize	* JPEGLoadMemory	* RectAnalyser
* Bt848	* JPEGSave	* RectBoundaries
* ColorTracker	* LoadImage	* Scale
* Components	* Magn2EdgeMap	* ScalePrint
* ComponentsDraw	* Magnitude	* SplitImage
* ComponentsViewer	* MovementDetector	* StatIntensityAnalyser
* ExtractSentence	* MultiColorTracker	* SubImage
* ExtractSentence_v2	* PPMImage	* Surround
* FakeImage	* Posterize	* SymbolCounter
* GrayGaussianBlur	* PrintLines	* SymbolExtractor
* HoughTransform	* RGB152GREY	* SymbolLoad
* ImageAnd	* RGB242RGB15	* SymbolSegmenter
* ImageCorrellation	* RGB5552RGB24	* SymbolTracker

See next category: RobotFlow:Robots

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BMPLoad (RobotFlow:Vision)

Read a 24-bit Windows bmp image from disk.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	LoadImage	IMAGE	No Description Available
Parameters	PIXELSIZE	int	Pixel Size of output image (1-grayscale, 2-rgb15, 3-rgb24)
FILENAME	string	Name of the file

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BMPSave (RobotFlow:Vision)

Save an image to disk in bmp format.

	NAME	TYPE	MEANING
Inputs	SaveImage	IMAGE	No Description Available
FILENAME	string	No Description Available
Outputs	SaveStatus	int	No Description Available
Parameters	none	none	none

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Binarize (RobotFlow:Vision)

Converts an image to black and white values

	NAME	TYPE	MEANING
Inputs	THRESHOLD	float	Threshold value on a 0-1 scale (Value of intensity above which pixels will be considered black)
IMAGE_IN	Image	Image to convert.
Outputs	IMAGE_OUT	Image	Converted image.
Parameters	none	none	none

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Bt848 (RobotFlow:Vision)

Interface to the bt848 frame grabber.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	IMAGE	Image	The image from the frame grabber.
Parameters	WIDTH	int	Width of the image.
BRIGHTNESS	int	Image brightness
CONTRAST	int	Image contrast
HEIGHT	int	Height of the image.
DEVICE	string	The device name.
CONTINUOUS	bool	The device working in continuous mode

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ColorTracker (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	COLOR_ID	int	The color number being tracked.
COMPONENTS	ComponentsData	The components from the image.
Outputs	DELTA_X	float	The difference between the center of the image ant the biggest blob (x).
DELTA_Y	float	The difference between the center of the image ant the biggest blob (y).
AREA	float	The Area of the color blob
WIDTH	float	The width of the color blob
HEIGHT	float	The height of the color blob
BOUNDARY	float	The minimum size (in pixel) around the blob in the image.
Parameters	none	none	none

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Components (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	IMAGE	Image	The Image to extract colors from.
LOOKUP	ColorLookup	The color lookup to use
Outputs	BLOBS	ComponentsData	The color blobs.
Parameters	XGAP	int	max X distance between two pixels of the same color blob.
YGAP	int	max Y distance between two pixels of the same color blob.
NUM_COLOR	int	Number of color to extract.
MIN_AREA	int	minimum area of color blocs

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ComponentsDraw (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	IMAGE	Image	Original Input Image
DATA	ComponentsData	Extracted components data
Outputs	IMAGE	Image	Random Image
Parameters	none	none	none

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ComponentsViewer (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	LOOKUP	ColorLookup	Color Lookup Table to display components
DATA	ComponentsData	Extracted components data
Outputs	IMAGE	Image	Random Image
Parameters	none	none	none

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ExtractSentence (RobotFlow:Vision)

Extract

	NAME	TYPE	MEANING
Inputs	SYMBOL_LIST	Vector	Data about the extracted symbols
Outputs	SENTENCE	string	A string corresponding to the sentence read
Parameters	VERTICAL_TOLERANCE	float	Determines how strict the definition of a line is.
HORIZONTAL_TOLERANCE	float	Determines how wide a space has to be to be considered an end of word.

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ExtractSentence_v2 (RobotFlow:Vision)

Extract

	NAME	TYPE	MEANING
Inputs	SYMBOL_LIST	Vector	Data about the extracted symbols
DICT	Vector	Dictionnary
Outputs	SENTENCE	string	A string corresponding to the sentence read
ORIGINAL_TEXT	string	Original Text one letter at a time.
Parameters	MIN_DICT_SCORE	float	Minimum probability [0,1] for dictionary hit
MIN_DIGIT_SCORE	float	Minimum nnet output for digit hit [-1,1]
DICT_ONLY	bool	true = will only extract words from the dict, false will also try to extract digits
VERTICAL_TOLERANCE	float	Determines how strict the definition of a line is.
HORIZONTAL_TOLERANCE	float	Determines how wide a space has to be to be considered an end of word.

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FakeImage (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	IMAGE	Image	Random Image
Parameters	WIDTH	int	Width of the image (in pixels)
HEIGHT	int	Height of the image (in pixels)
DEPTH	int	Depth of the image (in bytes per pixel)

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GrayGaussianBlur (RobotFlow:Vision)

Gaussian Blur

	NAME	TYPE	MEANING
Inputs	GRAYIMAGE	IMAGE	Grayscale image
Outputs	BLURIMAGE	IMAGE	Blurred Grayscale image
Parameters	SIGMA	float	Sigma of Gaussian Blur

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HoughTransform (RobotFlow:Vision)

Apply a hough transform on image

	NAME	TYPE	MEANING
Inputs	MAGNITUDEMAP	IMAGE	Magnitude Map - Grayscale Image
Angle	int	Center angle we want to process. Range 0 to 360
AbsAnglePrecision	int	Absolute Angle "width" - if we want 175 to 185 degree, Angle=180, AAP=5. Range 1 to 90
Outputs	Transform	IMAGE	Hough Transform Map
Parameters	none	none	none

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ImageAnd (RobotFlow:Vision)

OR operation between two images

	NAME	TYPE	MEANING
Inputs	GRAYIMAGE1	IMAGE	Grayscale image 1
GRAYIMAGE2	IMAGE	Grayscale image 2
Outputs	MIXEDIMAGE	IMAGE	ORed image
Parameters	none	none	none

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ImageCorrellation (RobotFlow:Vision)

Extract a region of an image.

	NAME	TYPE	MEANING
Inputs	IMAGE	Image	The original (not modified) image GREYSCALE
IMAGE_TEMPLATE	Image	The template to match in the image GREYSCALE
Outputs	DELTA_X	float	delta_x from the center of the image, where the template matches most
DELTA_Y	float	delta_y from the center of the image, where the template matches most
SCORE	float	the minimum score for a delta_x delta_y position.
Parameters	GRID_SPACING	int	the spacing between pixels

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ImageOr (RobotFlow:Vision)

OR operation between two images

	NAME	TYPE	MEANING
Inputs	GRAYIMAGE1	IMAGE	Grayscale image 1
GRAYIMAGE2	IMAGE	Grayscale image 2
Outputs	MIXEDIMAGE	IMAGE	ORed image
Parameters	none	none	none

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InverseHough (RobotFlow:Vision)

Reverts a hough transform

	NAME	TYPE	MEANING
Inputs	AbsAnglePrecision	int	Absolute Angle "width" - if we want 175 to 185 degree, Angle=180, AAP=5. Range 1 to 90
Angle	int	Center angle we want to process. Range 0 to 360
Transform	IMAGE	Hough-transform image, filtered with Magnitude + Magn2EdgeMap
Outputs	Lines	LINEARRAY	Straight Lines
Parameters	none	none	none

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JPEGLoadMemory (RobotFlow:Vision)

Save a JPEG image

	NAME	TYPE	MEANING
Inputs	INPUT_DATA	string	Input image in memory (JPEG format)
Outputs	IMAGE	Image	The output image created from data
Parameters	none	none	none

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JPEGSave (RobotFlow:Vision)

Save a JPEG image

	NAME	TYPE	MEANING
Inputs	INPUT	Image	Input image to be saved
SAVE_FILENAME	string	file name to save probe content (JPEG)
Outputs	IMAGE	Image	The same as the input image
JPEG_DATA	string	Raw (binary) JPEG data.
Parameters	QUALITY	int	string to indicate the quality of the compression, [0 to 100] (

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LoadImage (RobotFlow:Vision)

Read image from disk from a gdk-pixbuf supported format

	NAME	TYPE	MEANING
Inputs	FILENAME	string	the file to load
Outputs	IMAGE	Image	output image from file
Parameters	PIXELSIZE	int	Pixel Size of output image (1-grayscale, 2-rgb15, 3-rgb24)

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Magn2EdgeMap (RobotFlow:Vision)

Transform magnitude map to an edge map

	NAME	TYPE	MEANING
Inputs	MAGNITUDEMAP	IMAGE	MagnitudeMap - Grayscale Image
Outputs	EDGEMAP	IMAGE	EdgeMap - B
Parameters	THRESHOLD	int	threshold (

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Magnitude (RobotFlow:Vision)

Magnitude

	NAME	TYPE	MEANING
Inputs	GRAYIMAGE	IMAGE	Grayscale image
Outputs	MAGNITUDE	IMAGE	Magnitude image map
Parameters	none	none	none

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MovementDetector (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	IMAGE_IN	Image	The image from the frame grabber (greyscale).
Outputs	MOVEMENT_IMAGE	Image	The image containing movement position (white) and no movement (black)
Parameters	DELTA_INTENSITY	int	The width of the image.
HISTORY_SIZE	int	The history size to find movement (30 images = 1 sec at 30FPS)

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MultiColorTracker (RobotFlow:Vision)

Tracks N blobs of the color COLOR_ID.

	NAME	TYPE	MEANING
Inputs	COLOR_ID	int	The color number being tracked.
COMPONENTS	ComponentsData	The components from the image.
Outputs	DELTA_X	Vector	The difference between the center of the image ant the biggest blob (x).
DELTA_Y	Vector	The difference between the center of the image ant the biggest blob (y).
AREA	Vector	The Area of the color blob
WIDTH	Vector	The width of the color blob
HEIGHT	Vector	The height of the color blob
BOUNDARY	Vector	The minimum size (in pixel) around the blob in the image.
NB_BLOBS	int	number of color blobs processed
Parameters	none	none	none

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PPMImage (RobotFlow:Vision)

Read a ppm image from disk.

	NAME	TYPE	MEANING
Inputs	FILENAME	string	The file containing the PPM image.
Outputs	IMAGE	Image	Image read from disk (PPM)
Parameters	none	none	none

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Posterize (RobotFlow:Vision)

Converts an image to solid color values

	NAME	TYPE	MEANING
Inputs	IMAGE_IN	Image	Image to convert.
Outputs	IMAGE_OUT	Image	Converted image.
Parameters	THRESHOLD	float	Threshold value on a 0-1 scale (Value of intensity above which pixels will be considered as colored)

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PrintLines (RobotFlow:Vision)

Transform a LineArray into an image, for debugging

	NAME	TYPE	MEANING
Inputs	Lines	LINEARRAY	Lines
Outputs	LinesImage	IMAGE	Image or Lines - Grayscale
Parameters	WIDTH	int	Image Width
HEIGHT	int	Image Height
LINECOLOR	int	Color for lines (0..255)
BGCOLOR	int	Color of background (0..255)

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RGB152GREY (RobotFlow:Vision)

Simple RGB152GREY conversion from RGB15 color format to greyscale format.

	NAME	TYPE	MEANING
Inputs	RGBIMAGE	Image	RGB15 image
Outputs	GREYIMAGE	Image	Greyscale image
Parameters	none	none	none

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RGB242RGB15 (RobotFlow:Vision)

Simple conversion from RGB24 color format to RGB15 (0RRRRRGGGGGBBBBB) color format.

	NAME	TYPE	MEANING
Inputs	RGB24_IMAGE	Image	RGB24 format image
Outputs	RGB15_IMAGE	Image	RGB15 format image
Parameters	none	none	none

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RGB5552RGB24 (RobotFlow:Vision)

Simple conversion from RGB555 color format to RGB24 color format.

	NAME	TYPE	MEANING
Inputs	RGB555IMAGE	Image	RGB555 image
Outputs	RGB24IMAGE	IMAGE	RGB24 image
Parameters	none	none	none

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RGBMerge (RobotFlow:Vision)

Merge red green and blue color channels to form a color image.

	NAME	TYPE	MEANING
Inputs	RED	Image	Red color channel
GREEN	Image	Green color channel
BLUE	Image	Blue color channel
Outputs	IMAGE	Image	RGB15 color image
Parameters	none	none	none

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RGBSplit (RobotFlow:Vision)

Simple Red, Green, Blue channel extraction from RGB15 color format.

	NAME	TYPE	MEANING
Inputs	IMAGE	Image	RGB15 image
Outputs	RED	Image	Red image channel (0-255)
GREEN	Image	Green image channel (0-255)
BLUE	Image	Blue image channel (0-255)
Parameters	none	none	none

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RectAnalyser (RobotFlow:Vision)

Extracts information about a CRect.

	NAME	TYPE	MEANING
Inputs	CRECT	CRect	Blob bounding box (CRect)
Outputs	HEIGHT	int	Height of the blob (in pixels)
WIDTH	int	Width of the blob (in pixels)
AREA	int	Area of the blob contained in the rect
X_RELATIVE_CENTER_OF_GRAVITY	int	Number of pixels between the left boundary of the blob and its center of gravity
Y_RELATIVE_CENTER_OF_GRAVITY	int	Number of pixels between the top of the blob and its center of gravity
Parameters	none	none	none

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RectBoundaries (RobotFlow:Vision)

Returns information about the CRect corner points

	NAME	TYPE	MEANING
Inputs	CRECT	CRect	Blob bounding box (CRect)
Outputs	OUTPUT	Vector	CRect corners position: x,y of upper-left corner followed by x,y of lower-right corner.
Parameters	none	none	none

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Scale (RobotFlow:Vision)

Simple Scale controller.

	NAME	TYPE	MEANING
Inputs	CRECT	CRect	Blob bounding box (CRect)
Outputs	OUTPUT	Vector	Scaled CRect -1=background +1=foreground
Parameters	WIDTH	int	WIDTH of the scaled CRECT
HEIGHT	int	HEIGHT of the scaled CRECT
DEBUG	int	prints scaled character

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ScalePrint (RobotFlow:Vision)

Simple Scaled Vector Printer.

	NAME	TYPE	MEANING
Inputs	INPUT	Vector	Vector representing the scaled character
Outputs	OUTPUT	Vector	Same vector as input
Parameters	WIDTH	int	WIDTH of the scaled character
HEIGHT	int	HEIGHT of the scaled character

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SplitImage (RobotFlow:Vision)

Split image in four parts

	NAME	TYPE	MEANING
Inputs	GRAYIMAGE	IMAGE	Grayscale image
Outputs	IMAGETL	IMAGE	TopLeft part
IMAGETR	IMAGE	TopRight part
IMAGEBL	IMAGE	BottomLeft part
IMAGEBR	IMAGE	BottomRight part
Parameters	none	none	none

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StatIntensityAnalyser (RobotFlow:Vision)

Extracts statistical information about the intensity of an image

	NAME	TYPE	MEANING
Inputs	IMAGE_IN	Image	Image to analyse.
Outputs	MAX_INTENSITY	float	Maximum intensity of analysed sample on a 0-1 scale
MIN_INTENSITY	float	Minimum intensity of analysed sample on a 0-1 scale
AVG_INTENSITY	float	Average intensity
STD_INTENSITY	float	Intensity standard deviation
Parameters	FRACTION_ANALYSED	float	Fraction of pixels to analyse (on a 0-1 scale)

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SubImage (RobotFlow:Vision)

Extract a region of an image.

	NAME	TYPE	MEANING
Inputs	IMAGE	Image	The original (not modified)
X1	int	upper left corner (x)
Y1	int	upper left corner (y)
X2	int	lower right corner (x)
Y2	int	lower right corner (y)
Outputs	IMAGE	Image	Part of the image taken from the original image
Parameters	none	none	none

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Surround (RobotFlow:Vision)

Converts an image to black and white values

	NAME	TYPE	MEANING
Inputs	IMAGE_IN	Image	Image to convert.
Outputs	IMAGE_OUT	Image	Converted image.
Parameters	SPACING	int	number of bordering pixels (white)

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SymbolCounter (RobotFlow:Vision)

Counts the number of symbols of a given channel in an image.

	NAME	TYPE	MEANING
Inputs	DATA	ComponentsData	Extracted components data
Outputs	COUNT	int	The number of symbols in the image
Parameters	CHANNEL	int	Channel from which to extract the symbol
DEPTH	int	Depth of the image (in bytes per pixel)

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SymbolExtractor (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	DATA	ComponentsData	Extracted components data
INDEX	int	Index of the symbol to extract
Outputs	SYMBOL	CRect	CRect describing the symbol extracted from given channel
Parameters	CHANNEL	int	Channel from which to extract the symbol

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SymbolLoad (RobotFlow:Vision)

Simple SymbolLoad controller.

	NAME	TYPE	MEANING
Inputs	STREAM	stream	input stream
Outputs	CRECT	CRect	CRect read from disk
Parameters	none	none	none

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SymbolSegmenter (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	IMAGE	Image	Original unprocessed image
SYMBOL	CRect	Symbol to segment
Outputs	SYMBOL_COUNT	int	Number of symbols after segmentation
Parameters	none	none	none

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SymbolTracker (RobotFlow:Vision)

No description available

	NAME	TYPE	MEANING
Inputs	COMPONENTS	ComponentsData	The components from the image.
Outputs	DELTA_X	float	The difference between the center of the image ant the biggest blob (x).
DELTA_Y	float	The difference between the center of the image ant the biggest blob (y).
AREA	float	The Area of the color blob
WIDTH	float	The width of the color blob
HEIGHT	float	The height of the color blob
CRECT	CRect	The rectangle.
BOUNDARY	float	The minimum size (in pixel) around the blob in the image.
Parameters	FOREGROUND_COLOR_ID	int	The color number being tracked.
BACKGROUND_COLOR_ID	int	The color number being tracked.

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* RobotFlow:Robots (3)

List of available FlowDesigner nodes

* RobotConnect

* RobotPTZ

* RobotSonars

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RobotConnect (RobotFlow:Robots)

No description available

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	Pioneer2Connect	any	No description available
PlayerConnect	any	No description available
Parameters	Enable_Pioneer2	bool	No description available
Pioneer2_MotorEnable	bool	No description available
Pioneer2_SonarEnable	bool	No description available
Pioneer2_SerialPort	string	No description available
Enable_Player	bool	No description available
Player_Host	string	No description available
Player_Frequency	int	No description available
Player_Port	int	No description available
Player_PositionProxy	bool	No description available
Player_GripperProxy	bool	No description available
Player_LaserProxy	bool	No description available
Player_PTZProxy	bool	No description available
Player_SonarProxy	bool	No description available
Player_BlobFinderProxy	bool	No description available
Player_GPSProxy	bool	No description available

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RobotPTZ (RobotFlow:Robots)

No description available

	NAME	TYPE	MEANING
Inputs	PIONEER2_CLIENT	any	No description available
PLAYER_CLIENT	any	No description available
ABS_PAN	any	No description available
ABS_TILT	any	No description available
REL_PAN	any	No description available
REL_TILT	any	No description available
ZOOM	any	No description available
Outputs	CURRENT_PAN	any	No description available
CURRENT_TILT	any	No description available
CURRENT_ZOOM	any	No description available
Parameters	EVID30_PAN_SPEED	int	No description available
EVID30_TILT_SPEED	int	No description available
EVID30_SERIAL_PORT	string	No description available

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RobotSonars (RobotFlow:Robots)

No description available

	NAME	TYPE	MEANING
Inputs	Pioneer2Sonars	any	No description available
PlayerSonars	any	No description available
Outputs	SONAR_00	any	No description available
SONAR_01	any	No description available
SONAR_02	any	No description available
SONAR_03	any	No description available
SONAR_04	any	No description available
SONAR_05	any	No description available
SONAR_06	any	No description available
SONAR_07	any	No description available
SONAR_08	any	No description available
SONAR_09	any	No description available
SONAR_10	any	No description available
SONAR_11	any	No description available
SONAR_12	any	No description available
SONAR_13	any	No description available
SONAR_14	any	No description available
SONAR_15	any	No description available
ALL_SONARS	any	No description available
Parameters	none	none	none

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* RobotFlow:Probes (10)

List of available FlowDesigner nodes

* CheckBoxPanel	* LaserProbe	* VirtualJoystick
* ColorTrain	* PTZControl	* VisualROISelection
* ImageProbe	* SkinColorGMMTrain
* ImageProbeSDL	* SymbolKeypad

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CheckBoxPanel (RobotFlow:Probes)

Display vertical checkboxes and output the state

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	OUTPUT	Vector	The state of the checkboxes
Parameters	CHECKBOXES	string	Checkboxes labels separated by ":". Default value can be specified by adding ;true ;false at the end.

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ColorTrain (RobotFlow:Probes)

No description available

	NAME	TYPE	MEANING
Inputs	INPUT	any	No description available
Outputs	OUTPUT	any	No description available
LOOKUP	ColorLookup	The color lookup beeing trained
SAVE_FLAG	bool	The save flag to save the lookup table
COLOR_ID	int	The color id selected
Parameters	LOAD_LOOKUP	string	Load this lookup before starting to train.
HEIGHT	int	The height of the image
WIDTH	int	The width of the image
BREAK_AT	int	No description available
SHOW	bool	No description available
SKIP	int	No description available
H_DELTA	float	The H_DELTA allowed when training a color (degrees)
S_DELTA	float	The S_DELTA allowed when training a color [0-1]
V_DELTA	float	The V_DELTA allowed when training a color [0-1]
HSV_TRAINING	bool	Train the table using the HSV model

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ImageProbe (RobotFlow:Probes)

No description available

	NAME	TYPE	MEANING
Inputs	INPUT	any	No description available
SAVE_FILENAME	string	file name to save probe content (JPEG)
Outputs	OUTPUT	any	No description available
Parameters	HEIGHT	int	The height of the image
WIDTH	int	The width of the image
BREAK_AT	int	No description available
SHOW	bool	No description available
SKIP	int	No description available

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ImageProbeSDL (RobotFlow:Probes)

No description available

	NAME	TYPE	MEANING
Inputs	INPUT	any	No description available
Outputs	OUTPUT	any	No description available
Parameters	HEIGHT	int	The height of the image
WIDTH	int	The width of the image

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LaserProbe (RobotFlow:Probes)

Display the data from a laser

	NAME	TYPE	MEANING
Inputs	INPUT	Vector	The range values from the laser beam. (mm)
Outputs	OUTPUT	any	No description available
Parameters	BREAK_AT	any	No description available
SHOW	any	No description available
SKIP	any	No description available

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PTZControl (RobotFlow:Probes)

No description available

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	REL_PAN	int	relative pan command
REL_TILT	int	relative tilt command
REL_ZOOM	int	relative zoom command
ABS_PAN	int	absolute pan command
ABS_TILT	int	absolute tilt command
ABS_ZOOM	int	absolute zoom command
Parameters	MIN_ZOOM_SLIDER_VAL	int	The command to send when in "WIDE" mode
MAX_ZOOM_SLIDER_VAL	int	The command to send when in "TELE" mode

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SkinColorGMMTrain (RobotFlow:Probes)

Manual selection of skin and non skin regions to adapt existing skin color models.

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current frame
Outputs	SEGMENTED_IMAGE	Image	The skin mask image.
Parameters	WIDTH	int	The width of the video frame
HEIGHT	int	The height of the video frame
NUM_CHANNELS	int	Number of channels of the video frame.
OUT_MODEL_FILENAME	string	Filename for the models to be saved.
NUM_SKIN_GAUSSIANS	int	Number of gaussians to use in the skin mixture model.
MEAN_SKIN_LOG_LIKELIHOOD_THRESHOLD	float	Mean log likelihood threshold to consider a pixel as skin.
SKIN_LOG_LIKELIHOOD_THRESHOLD_INC	float	Increment for the mean log likelihood threshold. This is to test multiple thresholds.

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SymbolKeypad (RobotFlow:Probes)

Probe used to train the neural networks. The user will enter the proper symbol displayed.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	KEYPAD_ID	int	The Id of the key that is pressed
KEYPAD_NAME	Char	The Char description of the key that is pressed
ACTIVATED	bool	True if the user is pressing a button, else false.
Parameters	none	none	none

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VirtualJoystick (RobotFlow:Probes)

Virtual joystick with 2 standard buttons and 2 toggle buttons

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	OUTPUT	Vector	x, y, button1, button2 of the joystick
Parameters	BUTTONS_VISIBLE	bool	True if you want to use buttons.

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VisualROISelection (RobotFlow:Probes)

Region of interest selection interface

	NAME	TYPE	MEANING
Inputs	IN_IMAGE	Image	Current frame
Outputs	OUT_ROI	VisualROI	The user defined region of interest
Parameters	WIDTH	int	The width of the video frame
HEIGHT	int	The height of the video frame
NUM_CHANNELS	int	Number of channels of the video frame.
ROI_REGION_TYPE	int	Geometric type for the ROI region (refer to enum e_VISUALROI_type in VisualROI.h).

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* RobotFlow:Pioneer2 (11)

List of available FlowDesigner nodes

* Pioneer2Connect	* Pioneer2SIP	* Pioneer2VelocityOut
* Pioneer2Gripper	* Pioneer2SIPExtract	* Pioneer2Voltage
* Pioneer2GripperState	* Pioneer2Sonars	* Pioneer2xyPos
* Pioneer2RotationIn	* Pioneer2VelocityIn

See next category: RobotFlow:MARIE:REQUEST

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Pioneer2Connect (RobotFlow:Pioneer2)

Connect to the P2OS on Pioneer2, via serial port

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	CONNECTED	bool	Return TRUE if the robot is connected on P2OS, FALSE otherwise.
Parameters	MotorEnable	bool	Enable motor on startup if TRUE, otherwise the motor must be enable manually (white button on Pioneer2
FrontSonarEnable	bool	Enable front sonars on startup if TRUE, otherwise the sonar are not activated.
RearSonarEnable	bool	Enable rear sonars on startup if TRUE, otherwise the sonar are not activated.
SERIAL_PORT	string	Serial port for P2OS comm.

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See next category: RobotFlow:MARIE:REQUEST

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Pioneer2Gripper (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	CONNECTED	bool	No description available
GRIPPER	int	No description available
GRIPPER_VAL	int	No description available
Outputs	CONNECTED	bool	No description available
Parameters	none	none	none

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2GripperState (RobotFlow:Pioneer2)

Gets gripper state from 'SIP' field 'TIMER' and packs resulting boolean values in an object.

	NAME	TYPE	MEANING
Inputs	SIP_TIMER	any	'Timer' element of the SIP. Gripper state is available in the MSByte of that element.
Outputs	State	TP2GripperState	Object containing gripper state.
LIFT_FULLY_UP_OR_DOWN	bool	No Description Available
LIFT_MOVING	bool	No Description Available
PADDLES_COMPLETELY_OPENED	bool	No Description Available
PADDLES_MOVING	bool	No Description Available
RIGHT_PADDLE_PUSHED	bool	No Description Available
LEFT_PADDLE_PUSHED	bool	No Description Available
INNER_BREAKBEAM_CUT	bool	No Description Available
OUTER_BREAKBEAM_CUT	bool	No Description Available
Parameters	none	none	none

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2RotationIn (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	CONNECTED	any	No description available
REL_HEADING	any	No description available
ABS_HEADING	any	No description available
COLBERT_REL_HEADING	any	No description available
ROTATION_VELOCITY	int	No description available
Outputs	CONNECTED	any	No description available
Parameters	ROTATION_ACCELERATION	int	Rotational acceleration (deg/s2). Default value is for P2DX.
MAX_ROTATION_VELOCITY	int	Maximum rotational velocity (deg/s). Default value is for P2DX.

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2SIP (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	CONNECTED	bool	No description available
Outputs	SIP	PioneerData	No description available
CONNECTED	bool	No description available
Parameters	none	none	none

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2SIPExtract (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	SIP	any	No description available
CONNECTED	bool	No description available
Outputs	SIP	PioneerData	No description available
STATUS	any	No description available
XPOS	any	No description available
YPOS	any	No description available
THPOS	any	No description available
LVEL	any	No description available
RVEL	any	No description available
BATTERY	any	No description available
BUMPERS	any	No description available
CONTROL	any	No description available
PTU	any	No description available
SONARS	any	No description available
TIMER	any	No description available
ANALOG	any	No description available
DIGIN	any	No description available
DIGOUT	any	No description available
CONNECTED	bool	No description available
Parameters	none	none	none

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2Sonars (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	IS_CONNECTED	any	No description available
Outputs	SONAR_00	any	No description available
SONAR_01	any	No description available
SONAR_02	any	No description available
SONAR_03	any	No description available
SONAR_04	any	No description available
SONAR_05	any	No description available
SONAR_06	any	No description available
SONAR_07	any	No description available
SONAR_08	any	No description available
SONAR_09	any	No description available
SONAR_10	any	No description available
SONAR_11	any	No description available
SONAR_12	any	No description available
SONAR_13	any	No description available
SONAR_14	any	No description available
SONAR_15	any	No description available
ALL_SONARS	any	All sonar readings
Parameters	none	none	none

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2VelocityIn (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	VELOCITY_IN	any	No description available
IS_CONNECTED	any	No description available
Outputs	CONNECTED	any	No description available
Parameters	MAX_TRANS_VEL	int	No description available
MAX_TRANS_ACC	int	No description available

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2VelocityOut (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	IS_CONNECTED	any	No description available
Outputs	L_VELOCITY	any	No description available
R_VELOCITY	any	No description available
X_POS	any	No description available
Y_POS	any	No description available
Parameters	none	none	none

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2Voltage (RobotFlow:Pioneer2)

Voltage sensor from the robot.

	NAME	TYPE	MEANING
Inputs	IS_CONNECTED	bool	If we are connected to the robot.
Outputs	Voltage	float	Voltage from batteries.
LowVoltage	bool	Low voltage trigger.
ANALOG	float	Analog value from robot pins.
Digin	int	Digital inputs (IR sensors)
Parameters	LowVoltageTrigger	float	Low voltage trigger (on).
LowVoltageReset	float	Low voltage trigger (off).

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

Pioneer2xyPos (RobotFlow:Pioneer2)

No description available

	NAME	TYPE	MEANING
Inputs	IS_CONNECTED	any	No description available
Outputs	xPos	any	No description available
yPos	any	No description available
thPos	any	No description available
Parameters	RESET_DIST	any	No description available

Return to: RobotFlow:Pioneer2

See next category: RobotFlow:MARIE:REQUEST

Return to: Categories of available FlowDesigner nodes

* RobotFlow:MARIE:REQUEST (2)

List of available FlowDesigner nodes

* extractMarieRequestSystem

* newMarieRequestSystem

See next category: RobotFlow:MARIE:LOGIC

Return to: Categories of available FlowDesigner nodes

extractMarieRequestSystem (RobotFlow:MARIE:REQUEST)

Extract MARIE request system information

	NAME	TYPE	MEANING
Inputs	REQUEST_SYSTEM	MarieObject	input MarieObject object containing a RequestSystem
Outputs	COMMAND	string	Command stored in the Request System
DATA	string	Data stored in the Request System
REQUEST_ID	int	Request ID stored in the Request System
STATE	string	State stored in the Request System
Parameters	none	none	none

Return to: RobotFlow:MARIE:REQUEST

See next category: RobotFlow:MARIE:LOGIC

Return to: Categories of available FlowDesigner nodes

newMarieRequestSystem (RobotFlow:MARIE:REQUEST)

Create an object of type MarieObject containing a RequestSystem data

	NAME	TYPE	MEANING
Inputs	COMMAND	string	Command to include in the request
DATA	string	Data to include in the request
REQUEST_ID	int	Request ID to include in the request
STATE	string	State to include in the request
Outputs	REQUEST_SYSTEM	MarieObject	Output MarieObject containing a RequestSystem data
Parameters	none	none	none

Return to: RobotFlow:MARIE:REQUEST

See next category: RobotFlow:MARIE:LOGIC

Return to: Categories of available FlowDesigner nodes

* RobotFlow:MARIE:LOGIC (1)

List of available FlowDesigner nodes

* isMarieDataNull

See next category: RobotFlow:MARIE:IO

Return to: Categories of available FlowDesigner nodes

isMarieDataNull (RobotFlow:MARIE:LOGIC)

Verify if we have a MarieObject containing a DataNull data.

	NAME	TYPE	MEANING
Inputs	INPUT	any	any Input to verify
Outputs	OUTPUT	bool	True if we have a MarieObject containing a DataNull data, else false.
Parameters	none	none	none

Return to: RobotFlow:MARIE:LOGIC

See next category: RobotFlow:MARIE:IO

Return to: Categories of available FlowDesigner nodes

* RobotFlow:MARIE:IO (3)

List of available FlowDesigner nodes

* MariePeek

* MariePull

* MariePush

See next category: RobotFlow:MARIE:DATA

Return to: Categories of available FlowDesigner nodes

MariePeek (RobotFlow:MARIE:IO)

Peak an object from the stream (non blocking)

	NAME	TYPE	MEANING
Inputs	STREAM	Stream	The input stream
Outputs	OUTPUT	any	Object
Parameters	none	none	none

Return to: RobotFlow:MARIE:IO

See next category: RobotFlow:MARIE:DATA

Return to: Categories of available FlowDesigner nodes

MariePull (RobotFlow:MARIE:IO)

Pull an object from the stream (blocking)

	NAME	TYPE	MEANING
Inputs	STREAM	Stream	The input stream
Outputs	OUTPUT	any	Object
Parameters	none	none	none

Return to: RobotFlow:MARIE:IO

See next category: RobotFlow:MARIE:DATA

Return to: Categories of available FlowDesigner nodes

MariePush (RobotFlow:MARIE:IO)

Save an object

	NAME	TYPE	MEANING
Inputs	INPUT	any	Object
STREAM	Stream	Stream to write to
Outputs	OUTPUT	any	Same Object
Parameters	none	none	none

Return to: RobotFlow:MARIE:IO

See next category: RobotFlow:MARIE:DATA

Return to: Categories of available FlowDesigner nodes

* RobotFlow:MARIE:DATA (19)

List of available FlowDesigner nodes

* extractMarieDataBumper	* extractMarieDataRaw	* newMarieDataMap
* extractMarieDataCamera	* extractMarieDataSonar	* newMarieDataNull
* extractMarieDataIR	* newMarieDataBumper	* newMarieDataOdometry
* extractMarieDataLaser	* newMarieDataCamera	* newMarieDataRaw
* extractMarieDataLocalisation	* newMarieDataIR	* newMarieDataSonar
* extractMarieDataMap	* newMarieDataLaser
* extractMarieDataOdometry	* newMarieDataLocalisation

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataBumper (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_BUMPER	MarieObject	input MarieObject object containing a DataBumper
Outputs	NBBUMPERS	int	output nb buttons, nilObject if not used
BUMPERSTATE	int	output bumper state, nilObject if not used
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataCamera (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_CAMERA	MarieObject	input MarieObject object containing a DataCamera
Outputs	PAN	int	Pan of the camera
TILT	int	Tilt of the camera
ZOOM	int	Zoom of the camera
IMAGE_WIDTH	int	image width from the camera
IMAGE_HEIGHT	int	image height from the camera
IMAGE_FORMAT	string	format of the image
IMAGE	Image	the image data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataIR (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_IR	MarieObject	input MarieObject object containing a DataIR
Outputs	RANGES	Vector	Range contained in the DataIR object
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataLaser (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_LASER	MarieObject	input MarieObject object containing a DataLaser
Outputs	RANGES	Vector	Range contained in the DataLaser object
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataLocalisation (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_LOCALISATION	MarieObject	input MarieObject object containing a DataLocalisation
Outputs	SOURCES_INFO_VECTOR	Vector	output X
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataMap (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_MAP	MarieObject	input MarieObject object containing a DataAssociativeMap
Outputs	COMPOSITE	CompositeType	Composite object equivalent to MARIE DataAssociativeMap
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataOdometry (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_ODOMETRY	MarieObject	input MarieObject object containing a DataOdometry
Outputs	XPOS	int	X axis position
YPOS	int	Y axis position
ZPOS	int	Z axis position
YAW	int	YAW angle
PITCH	int	PITCH angle
ROLL	int	ROLL angle
LINEAR_SPEED	int	linear speed (X-Y)
SIDE_SPEED	int	translational speed (X-Y)
ROTATION_SPEED	int	rotation speed (X-Y)
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataRaw (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_RAW	MarieObject	input MarieObject object containing a DataRaw
Outputs	OBJREF	any	Range contained in the DataRaw object
CUSTOM_ID	string	Range contained in the DataRaw object
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

extractMarieDataSonar (RobotFlow:MARIE:DATA)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	DATA_SONAR	MarieObject	input MarieObject object containing a DataSonar
Outputs	RANGES	Vector	Range contained in the DataSonar object
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataBumper (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataBumper data

	NAME	TYPE	MEANING
Inputs	NBBUMPERS	int	input nb buttons, nilObject if not used
BUMPERSTATE	int	input bumper state, nilObject if not used
Outputs	DATA_BUMPER	MarieObject	Output MarieObject containing a DataBumper data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataCamera (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataCamera data

	NAME	TYPE	MEANING
Inputs	PAN	int	Pan of the camera
TILT	int	Tilt of the camera
ZOOM	int	Zoom of the camera
IMAGE_WIDTH	int	image width from the camera
IMAGE_HEIGHT	int	image height from the camera
IMAGE_FORMAT	string	format of the image
IMAGE	Image	the image data
Outputs	DATA_CAMERA	MarieObject	Output MarieObject containing a DataCamera data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataIR (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataIR data

	NAME	TYPE	MEANING
Inputs	RANGES	Vector	Range to be transformed into a MarieDataIR object
Outputs	DATA_IR	MarieObject	Output MarieObject containing a DataIR data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataLaser (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataLaser data

	NAME	TYPE	MEANING
Inputs	RANGES	Vector	Range to be transformed into a DataLaser object
Outputs	DATA_LASER	MarieObject	Output MarieObject containing a DataLaser data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataLocalisation (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataLocalisation data

	NAME	TYPE	MEANING
Inputs	SOURCES_INFO_VECTOR	Vector	input X, nilObject if not used
Outputs	DATA_LOCALISATION	MarieObject	Output MarieObject containing a DataLocalisation data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataMap (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataAssociativeMap data

	NAME	TYPE	MEANING
Inputs	COMPOSITE	CompositeType	Composite Type Object (Map)
Outputs	DATA_MAP	MarieObject	Output MarieObject containing a DataAssociativeMap data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataNull (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataNull data

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	DATA_NULL	MarieObject	Output MarieObject containing a DataNull data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataOdometry (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataOdometry data

	NAME	TYPE	MEANING
Inputs	XPOS	float	X axis position
YPOS	float	Y axis position
ZPOS	float	Z axis position
YAW	float	YAW angle
PITCH	float	PITCH angle
ROLL	float	ROLL angle
LINEAR_SPEED	float	linear speed (X-Y)
SIDE_SPEED	float	translational speed (X-Y)
ROTATION_SPEED	float	rotation speed (X-Y)
Outputs	DATA_ODOMETRY	MarieObject	Output MarieObject containing a DataOdometry data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataRaw (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataRaw data

	NAME	TYPE	MEANING
Inputs	OBJREF	ObjectRef	MarieDataRaw object
CUSTOM_ID	String	MarieDataRaw object
Outputs	DATA_RAW	MarieObject	Output MarieObject containing a DataRaw data
Parameters	PRETTY_PRINT	bool	Pretty print variables (remove FD tags)

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

newMarieDataSonar (RobotFlow:MARIE:DATA)

Create an object of type MarieObject containing a DataSonar data

	NAME	TYPE	MEANING
Inputs	RANGES	Vector	Range to be transformed into a DataSonar object
Outputs	DATA_SONAR	MarieObject	Output MarieObject containing a DataSonar data
Parameters	none	none	none

Return to: RobotFlow:MARIE:DATA

See next category: RobotFlow:MARIE:COMMAND

Return to: Categories of available FlowDesigner nodes

* RobotFlow:MARIE:COMMAND (8)

List of available FlowDesigner nodes

* extractMarieCommandBehavior	* extractMarieCommandMotor	* newMarieCommandJoystick
* extractMarieCommandCamera	* newMarieCommandBehavior	* newMarieCommandMotor
* extractMarieCommandJoystick	* newMarieCommandCamera

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

extractMarieCommandBehavior (RobotFlow:MARIE:COMMAND)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	COMMAND_BEHAVIOR	MarieObject	The MarieObject object containing a CommandBehavior
Outputs	ACTIVATIONS	CompositeType	Composite
EXPLOITATIONS	CompositeType	Composite
PARAMS	CompositeType	Composite (parameters in string format seperated by space)
RESULTS	CompositeType	Composite (results in string format seperated by space)
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

extractMarieCommandCamera (RobotFlow:MARIE:COMMAND)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	COMMAND_CAMERA	MarieObject	The MarieObject object containing a CommandCamera
Outputs	REL_BRIGHTNESS	int	output brightness
REL_CONTRAST	int	output contrast
REL_PAN	int	output pan
REL_TILT	int	output tilt
REL_ZOOM	int	output zoom
ABS_BRIGHTNESS	int	output brightness
ABS_CONTRAST	int	output contrast
ABS_PAN	int	output pan
ABS_TILT	int	output tilt
ABS_ZOOM	int	output zoom
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

extractMarieCommandJoystick (RobotFlow:MARIE:COMMAND)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	COMMAND_JOYSTICK	MarieObject	The MarieObject object containing a CommandJoystick
Outputs	X	int	input x, nilObject if not used
Y	int	input y, nilObject if not used
XMIN	int	input xmin, nilObject if not used
YMIN	int	input ymin, nilObject if not used
XMAX	int	input xmax, nilObject if not used
YMAX	int	input ymax, nilObject if not used
NBBUTTONS	int	output nb buttons, nilObject if not used
BUTTONSTATE	int	output button state, nilObject if not used
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

extractMarieCommandMotor (RobotFlow:MARIE:COMMAND)

Extract data in the FlowDesigner format from MarieObject

	NAME	TYPE	MEANING
Inputs	COMMAND_MOTOR	MarieObject	The MarieObject object containing a CommandMotor
Outputs	VELOCITY	int	output velocity
ROTATION	int	output rotation
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

newMarieCommandBehavior (RobotFlow:MARIE:COMMAND)

Create an object of type MarieObject containing a CommandBehavior data

	NAME	TYPE	MEANING
Inputs	BEHAVIOR_COMPOSITE_ACC	Vector	Accumulator of composite , BEHAVIOR_ACTIVATION, BEHAVIOR_EXPLOITATION, BEHAVIOR_PARAMETERS, BEHAVIOR_RESULTS> -> behavior name, activation, parameters (separated by space), results (separated by space)
Outputs	COMMAND_BEHAVIOR	MarieObject	Output MarieObject containing a CommandBehavior data
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

newMarieCommandCamera (RobotFlow:MARIE:COMMAND)

Create an object of type MarieObject containing a CommandCamera data

	NAME	TYPE	MEANING
Inputs	REL_BRIGHTNESS	int	input brightness, nilObject if not used
REL_CONTRAST	int	input contrast, nilObject if not used
REL_PAN	int	input pan, nilObject if not used
REL_TILT	int	input tilt, nilObject if not used
REL_ZOOM	int	input zoom, nilObject if not used
ABS_BRIGHTNESS	int	input brightness, nilObject if not used
ABS_CONTRAST	int	input contrast, nilObject if not used
ABS_PAN	int	input pan, nilObject if not used
ABS_TILT	int	input tilt, nilObject if not used
ABS_ZOOM	int	input zoom, nilObject if not used
Outputs	COMMAND_CAMERA	MarieObject	Output MarieObject containing a CommandCamera data
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

newMarieCommandJoystick (RobotFlow:MARIE:COMMAND)

Create an object of type MarieObject containing a CommandJoystick data

	NAME	TYPE	MEANING
Inputs	X	int	input x, nilObject if not used
Y	int	input y, nilObject if not used
XMIN	int	input xmin, nilObject if not used
YMIN	int	input ymin, nilObject if not used
XMAX	int	input xmax, nilObject if not used
YMAX	int	input ymax, nilObject if not used
NBBUTTONS	int	input nb buttons, nilObject if not used
BUTTONSTATE	int	input button state, nilObject if not used
Outputs	COMMAND_JOYSTICK	MarieObject	Output MarieObject containing a CommandJoystick data
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

newMarieCommandMotor (RobotFlow:MARIE:COMMAND)

Create an object of type MarieObject containing a CommandMotor data

	NAME	TYPE	MEANING
Inputs	VELOCITY	int	input velocity
ROTATION	int	input rotation
Outputs	COMMAND_MOTOR	MarieObject	Output MarieObject containing a CommandMotor data
Parameters	none	none	none

Return to: RobotFlow:MARIE:COMMAND

See next category: RobotFlow:LABORIUS

Return to: Categories of available FlowDesigner nodes

* RobotFlow:LABORIUS (3)

List of available FlowDesigner nodes

* ChallengeVision

* READ

* READv2

See next category: RobotFlow:Generic

Return to: Categories of available FlowDesigner nodes

ChallengeVision (RobotFlow:LABORIUS)

No description available

	NAME	TYPE	MEANING
Inputs	NNET	any	No description available
DICT	any	No description available
BLACK_WHITE_LOOKUP	any	No description available
RGB24_320x240In	any	No description available
TEXT_DETECT_ACTIVATED	any	No description available
SKIN_DETECT_ACTIVATION	any	No description available
FACE_DETECT_ACTIVATION	any	No description available
TEXT_TRACKING_ACTIVATED	any	No description available
FACE_TRACKING_ACTIVATED	any	No description available
SHOW_TRACKED_ROI	any	No description available
TEXT_EXTRACTION_ACTIVATED	any	No description available
CURRENT_PAN	any	No description available
CURRENT_TILT	any	No description available
CURRENT_ZOOM	any	No description available
Outputs	FRAME_FILENAME	any	No description available
TEXT	any	No description available
ORIGINAL_TEXT	any	No description available
ABS_TILT	any	No description available
ABS_PAN	any	No description available
ABS_ZOOM	any	No description available
RGB24_320x240Out	any	No description available
FACE_DETECTED	any	No description available
TEXT_DETECTED	any	No description available
CURRENT_TRACKING_ROI	any	No description available
SKIN_DETECTED	any	No description available
GRAYSCALE_IMAGE_TEXT	any	No description available
Parameters	DEFAULT_ABS_PAN_COMMAND	int	No description available
DEFAULT_ABS_TILT_COMMAND	int	No description available
MIN_SYMBOL_HEIGHT	int	No description available
MIN_SYMBOL_WIDTH	int	No description available
MIN_DICT_SCORE	float	No description available
MIN_DIGIT_SCORE	float	No description available
DICT_ONLY	bool	No description available
VERTICAL_TOLERANCE	float	No description available
HORIZONTAL_TOLERANCE	float	No description available

Return to: RobotFlow:LABORIUS

See next category: RobotFlow:Generic

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READ (RobotFlow:LABORIUS)

No description available

	NAME	TYPE	MEANING
Inputs	NNET	any	No description available
DICT	any	No description available
COLOR_LOOKUP	any	No description available
CURRENT_ABS_ZOOM	any	No description available
RGB15_IMAGE	any	No description available
SIGN_TRACKING_ACTIVATED	any	No description available
BLACK_WHITE_LOOKUP	any	No description available
Outputs	REL_PAN_COMMAND	any	No description available
REL_TILT_COMMAND	any	No description available
ABS_ZOOM_COMMAND	any	No description available
SENTENCE	any	No description available
ORIGINAL_TEXT	any	No description available
READING_FLAG	any	No description available
Parameters	none	none	none

Return to: RobotFlow:LABORIUS

See next category: RobotFlow:Generic

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READv2 (RobotFlow:LABORIUS)

No description available

	NAME	TYPE	MEANING
Inputs	NNET	any	No description available
DICT	any	No description available
SIGN_TRACKING_ACTIVATED	any	No description available
BLACK_WHITE_LOOKUP	any	No description available
RGB15_BINARIZED	any	No description available
Outputs	SENTENCE	any	No description available
ORIGINAL_TEXT	any	No description available
Parameters	MIN_SYMBOL_HEIGHT	int	No description available
MIN_SYMBOL_WIDTH	int	No description available
MIN_DICT_SCORE	float	No description available
MIN_DIGIT_SCORE	float	No description available
DICT_ONLY	bool	No description available
VERTICAL_TOLERANCE	float	No description available
HORIZONTAL_TOLERANCE	float	No description available

Return to: RobotFlow:LABORIUS

See next category: RobotFlow:Generic

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* RobotFlow:Generic (4)

List of available FlowDesigner nodes

* DictionaryLookup	* TimeStamp
* Random	* USleep

See next category: RobotFlow:FSM

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DictionaryLookup (RobotFlow:Generic)

Find the words in the dictionnary

	NAME	TYPE	MEANING
Inputs	DICTIONARY	string	List of know word
TEXT_IN	string	Text to analyse
Outputs	TEXT_OUT	string	Text analysed
Parameters	PASSING_SCORE	float	Score, in percent, that must be obtained for a substitution to occur

Return to: RobotFlow:Generic

See next category: RobotFlow:FSM

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Random (RobotFlow:Generic)

Get random number between [0-1]

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	OUTPUT	float	No Description Available
Parameters	SEED	int	random number generator seed

Return to: RobotFlow:Generic

See next category: RobotFlow:FSM

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TimeStamp (RobotFlow:Generic)

Get the current time and returns it in a string

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	OUTPUT	string	Time represented in a string
Parameters	none	none	none

Return to: RobotFlow:Generic

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USleep (RobotFlow:Generic)

Wait a given time.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	OUTPUT	any	Nothing
Parameters	MICROSECONDS	int	The time required to sleep

Return to: RobotFlow:Generic

See next category: RobotFlow:FSM

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* RobotFlow:FSM (1)

List of available FlowDesigner nodes

* FSMGenerator

See next category: RobotFlow:EMIB

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FSMGenerator (RobotFlow:FSM)

Finite state machine subnet generator.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	OUT_FILENAME	string	The file name containing the generated c++ code.
Parameters	FSM_FILE	string	The file name containing the FSM description.

Return to: RobotFlow:FSM

See next category: RobotFlow:EMIB

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* RobotFlow:EMIB (1)

List of available FlowDesigner nodes

* NewSymbolIdentify

See next category: RobotFlow:Devices

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NewSymbolIdentify (RobotFlow:EMIB)

Identify symbol from neural network output

	NAME	TYPE	MEANING
Inputs	INPUT	Vector	neural network output vector
Outputs	SYMBOL_ID	int	Found symbol ID
Parameters	THRESHOLD	float	Recognition threshold

Return to: RobotFlow:EMIB

See next category: RobotFlow:Devices

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* RobotFlow:Devices (7)

List of available FlowDesigner nodes

* CANON_VCC4	* SICKLMS200	* V4L2Capture
* EVID30	* SNCRZ30
* IMU400CC_200	* SNCRZ30RS232

See next category: RobotFlow:Control

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CANON_VCC4 (RobotFlow:Devices)

No description available

	NAME	TYPE	MEANING
Inputs	PAN_ABS_POS	int	Absolute Pan of the camera -1000 to +1000
TILT_ABS_POS	int	Absolute Tilt of the camera -300 to +300
PAN_REL_POS	int	Absolute Pan of the camera -1000 to +1000
TILT_REL_POS	int	Absolute Tilt of the camera -300 to +300
ZOOM	int	Absolute Zoom of the camera 0 (1X wide) to 128 ( 16X tele)
Outputs	PAN_POSITION	int	Returns the current pan position of the Camera
TILT_POSITION	int	Returns the current tilt position of the Camera
ZOOM_POSITION	int	Returns the current zoom position of the Camera
Parameters	PAN_SPEED	int	Pan speed 0-24
TILT_SPEED	int	Tilt speed 0-20
SERIAL_PORT	string	No Description Available
DEVICE_NUMBER	int	No Description Available

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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EVID30 (RobotFlow:Devices)

Sony EVI-D30 Pan-Tilt-Zoom driver.

	NAME	TYPE	MEANING
Inputs	PAN_ABS_POS	int	Absolute Pan of the camera -880 to +880. (1/10 of degrees)
TILT_ABS_POS	int	Absolute Tilt of the camera -300 to +300. (1/10 of degrees)
PAN_REL_POS	int	Absolute Pan of the camera -880 to +880. (1/10 of degrees)
TILT_REL_POS	int	Absolute Tilt of the camera -300 to +300. (1/10 of degrees)
ZOOM	int	Absolute Zoom of the camera 0 (1X) to 1023 (12X)
Outputs	PAN_POSITION	int	Returns the current pan position of the Camera
TILT_POSITION	int	Returns the current tilt position of the Camera
ZOOM_POSITION	int	Returns the current zoom position of the Camera
Parameters	PAN_SPEED	int	Pan speed 0-24
TILT_SPEED	int	Tilt speed 0-20
SERIAL_PORT	string	No Description Available

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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IMU400CC_200 (RobotFlow:Devices)

Crossbow IMU400CC-200 driver.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	X_ACCEL	float	X ACCELERATION (G force)
Y_ACCEL	float	Y ACCELERATION (G force)
Z_ACCEL	float	Z ACCELERATION (G force)
YAW_RATE	float	YAW RATE (deg/sec)
PITCH_RATE	float	PITCH RATE (deg/sec)
ROLL_RATE	float	ROLL_RATE (deg/sec)
X	float	X position (meters)
Y	float	Y position (meters)
Z	float	Z position (meters)
YAW	float	YAW (deg)
PITCH	float	PITCH (deg)
ROLL	float	ROLL (deg)
Parameters	SERIAL_PORT	string	No Description Available
BIAS_VALUES	int	The number of values to calculate the bias on gyro rate before processing.

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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SICKLMS200 (RobotFlow:Devices)

No description available

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	RANGE	Vector	Returns the current range of the Laser (mm)
INTENSITY	Vector	Returns the current intensity of the Laser
Parameters	SERIAL_PORT	string	No Description Available

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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SNCRZ30 (RobotFlow:Devices)

Sony SNCRZ30 Network Camera Pan-Tilt-Zoom + JPEG image driver.

	NAME	TYPE	MEANING
Inputs	PAN_ABS_POS	int	Absolute Pan of the camera -880 to +880. (1/10 of degrees)
TILT_ABS_POS	int	Absolute Tilt of the camera -300 to +300. (1/10 of degrees)
PAN_REL_POS	int	Absolute Pan of the camera -880 to +880. (1/10 of degrees)
TILT_REL_POS	int	Absolute Tilt of the camera -300 to +300. (1/10 of degrees)
ZOOM_ABS_POS	int	Absolute Zoom of the camera 1 (1X) to 24 (24X) [0-0x4000]
ZOOM_REL_POS	int	Relative Zoom of the camera 1 (1X) to 24 (24X) [0-0x4000]
Outputs	PAN_POSITION	int	Returns the current pan position of the Camera
TILT_POSITION	int	Returns the current tilt position of the Camera
ZOOM_POSITION	int	Returns the current zoom position of the Camera
IMAGE	Image	Return the image from the camera
Parameters	PAN_SPEED	int	Pan speed 0-24
TILT_SPEED	int	Tilt speed 0-20
HOST	string	The HOST where to connect (camera IP or network name)
CONTINUOUS	bool	Continuously grab images
TRANSMIT_SPEED	int	transfer rate FPS [0=FASTEST]
WAIT_REPLY	bool	Wait for camera reply on commands
INQUIRY_POSITION	bool	Inquiry position of the pan,tilt,zoom from the device

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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SNCRZ30RS232 (RobotFlow:Devices)

Sony SNZRZ30 RS-232 Pan-Tilt-Zoom driver.

	NAME	TYPE	MEANING
Inputs	PAN_ABS_POS	int	Absolute Pan of the camera -1700 to +1700. (1/10 of degrees)
TILT_ABS_POS	int	Absolute Tilt of the camera -725 to +425. (1/10 of degrees)
PAN_REL_POS	int	Absolute Pan of the camera -1700 to +1700. (1/10 of degrees)
TILT_REL_POS	int	Absolute Tilt of the camera -725 to +425. (1/10 of degrees)
ZOOM_ABS_POS	int	Absolute Zoom of the camera 0 (1X) to 16384 (24X)
ZOOM_REL_POS	int	Relative Zoom according to the actual zoom position
Outputs	PAN_POSITION	int	Returns the current pan position of the Camera
TILT_POSITION	int	Returns the current tilt position of the Camera
ZOOM_POSITION	int	Returns the current zoom position of the Camera
Parameters	PAN_SPEED	int	Pan speed 0-24
TILT_SPEED	int	Tilt speed 0-20
SERIAL_PORT	string	No Description Available

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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V4L2Capture (RobotFlow:Devices)

Interface for any V4L2 frame grabber.

	NAME	TYPE	MEANING
Inputs	none	none	none
Outputs	IMAGE	Image	The image from the frame grabber.
Parameters	DEVICE	string	The device name.
WIDTH	int	Width of the image.
HEIGHT	int	Height of the image.
FORMAT	string	Format of image to be captured (GREYSCALE, RGB15, RGB24)
CONTINUOUS	bool	true if we use continuous mode for capture
BRIGHTNESS	int	Image brightness
CONTRAST	int	Image contrast
HUE	int	Image hue
SATURATION	int	Image saturation
AUTO_WHITE_BALANCE	bool	Automatic white balance for V4L2 device.
AUTO_SOFT_BRIGHTNESS	bool	Software adjustment of brightness (TEST)

Return to: RobotFlow:Devices

See next category: RobotFlow:Control

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* RobotFlow:Control (4)

List of available FlowDesigner nodes

* EVID30_PID	* JoystickControl
* GenericPID	* Saturation

See next category: RobotFlow:Behaviors

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EVID30_PID (RobotFlow:Control)

Simple PID controller for EVI-D30 camera.

	NAME	TYPE	MEANING
Inputs	DELTA_X	float	Diff. Number of pixel(x) to the center of the image.
DELTA_Y	float	Diff. Number of pixel(y) to the center of the image.
ZOOM	int	Current camera zoom.
Outputs	REL_PAN	int	Relative Pan Value
REL_TILT	int	Relative Tilt Value
Parameters	P_GAIN	float	Proportionnal gain.
I_GAIN	float	Integral gain.
D_GAIN	float	Derivative gain.
I_MAX	float	The maximum Integral value.

Return to: RobotFlow:Control

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GenericPID (RobotFlow:Control)

Simple PID controller.

	NAME	TYPE	MEANING
Inputs	EPSILON	float	Diff. Number of pixel(x) to the center of the image.
RESET	boolean	Diff. Number of pixel(x) to the center of the image.
Outputs	OUTPUT	float	OutPut
Parameters	P_GAIN	float	Proportionnal gain.
I_GAIN	float	Integral gain.
D_GAIN	float	Derivative gain.
I_MAX	float	The maximum Integral value.

Return to: RobotFlow:Control

See next category: RobotFlow:Behaviors

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JoystickControl (RobotFlow:Control)

Simple joystick controller.

	NAME	TYPE	MEANING
Inputs	INPUT	Command from joystick	No Description Available
Outputs	VELOCITY	float	Velocity (mm/s) output
HEADING	float	Heading (deg/s) output
Parameters	X_AXIS_GAIN	float	Proportionnal gain.
Y_AXIS_GAIN	float	Integral gain.

Return to: RobotFlow:Control

See next category: RobotFlow:Behaviors

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Saturation (RobotFlow:Control)

Simple Saturation Block.

	NAME	TYPE	MEANING
Inputs	INPUT	float	Input to Saturate. .
Outputs	OUTPUT	float	OutPut to Saturate.
Parameters	MIN	float	Minimum Value.
MAX	float	Maximum Value.

Return to: RobotFlow:Control

See next category: RobotFlow:Behaviors

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* RobotFlow:Behaviors (29)

List of available FlowDesigner nodes

* Avoid	* FollowWall	* ParametrizedAvoid
* AvoidPat	* Goto	* RandomTurn
* BehaviorSelection	* GotoPat	* RangeFashion
* BumperStall	* Grasp	* Rest
* Direct	* Inhibition	* SafeVelocity
* DirectArbiter	* MinimumDistance	* SafeVelocityPat
* DirectPolygon	* MoveAndTurn	* SignTracking
* DirectSquare	* MultiSignTracking	* Subsumption
* DirectTriangle	* NewBehavior	* TrackAudioLoc
* FollowAudioLoc	* Obey

See next category: -

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Avoid (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	LEFT_FRONT	float	Left sonar value
FRONT	float	Front sonar value
RIGHT_FRONT	float	Right sonar value
ACTIVATED	bool	Behavior activation
Outputs	ROTATION	int	Rotation value
EXPLOITATION	any	Behavior exploitation
Parameters	DETECTION_RANGE	float	No description available
ROTATION_VALUE	int	No description available

Return to: RobotFlow:Behaviors

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AvoidPat (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	ACTIVATED	bool	Behavior activation
RANGE_BELT	Vector	Range mesure around the robot
ACTUAL_VELOCITY	int	Actual velocity of the robot
Outputs	VELOCITY	int	Velocity value
ROTATION	int	Rotation value
EXPLOITATION	any	Behavior exploitation.
Parameters	MAX_AVOID_VELOCITY	int	Maximum velocity allowed (mm/s).
MIN_AVOID_VELOCITY	int	Minimum velocity to help the rotation (mm/s).
MAX_ROTATION	int	Maximum rotation allowed (degree/s).
MIN_ROTATION	int	Minimum rotation to get something going (degree/s).
MIN_ROTATION_GAIN	float	Gain to apply to the MIN_ROTATION value
MAX_ROBOT_VELOCITY	int	Maximum distance of the protection (mm)
MAX_VEL_CORRECTION	int	Maximum correction of the velocity per iteration (mm/s)
MAX_DISTANCE	int	Maximum distance of the protection (mm)
MIN_DISTANCE	int	Minimum distance of the protection (mm)
MARGIN_TOL	float	Factor to break linear approximation of the speed calculation [0,1]
SIDE_FACTOR	float	Factor to scale de security distance for the side
BACKWARD_DIST	int	Distance threshold to go backward
BACKWARD_VELOCITY	int	Backward velocity to apply (mm/s)
BACKWARD_ROTATION	int	Rotation to apply when going backward (mm/s)
BACKWARD_ITERATION	int	Number of iteration to apply backward velocity (mm/s)

Return to: RobotFlow:Behaviors

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BehaviorSelection (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	RECOMMANDATION	any	No description available
Outputs	ACTIVATION	any	No description available
Parameters	none	none	none

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BumperStall (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	NBBUMPERS	int	Number of bumpers
BUMPERSTATE	int	Global value of the bumpers state
ACTIVATED	bool	Behavior activation
Outputs	VELOCITY	int	Velocity value
ROTATION	int	Velocity value
EXPLOITATION	any	Behavior exploitation
Parameters	BEHAVIOR_TYPE	int	Type of action to do on bumper contact
NB_ITER_ALLOWED	int	Number of allowed iterations with a bumper pressed (TYPE=0)

Return to: RobotFlow:Behaviors

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Direct (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	command	any	No description available
ACTIVATED	any	No description available
xPos	any	No description available
yPos	any	No description available
thPos	any	No description available
Outputs	EXPLOITATION	any	No description available
velocity	any	No description available
relHeading	any	No description available
busy	any	No description available
Parameters	vel	int	No description available
deltaDist	float	No description available
deltaRad	float	No description available
deltaRad2	float	No description available
distSlowDown	float	No description available

Return to: RobotFlow:Behaviors

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DirectArbiter (RobotFlow:Behaviors)

To move robot arbitrary, according to movement selected by the trigger. Movement are defined by external bloc.

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	ACTIVATED input of a behavior.
Outputs	EXPLOITATION	any	EXPLOITATION output of a behavior.
Trigger1	any	First movement.
Trigger2	any	Second movement.
Trigger3	any	Third movement.
Parameters	interval1	int	First timer before change robot movement.
interval2	int	Second timer before change robot movement.
interval3	int	Third timer before change robot movement.

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DirectPolygon (RobotFlow:Behaviors)

To move robot in a polygon.

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	ACTIVATED input of a behavior.
Outputs	EXPLOITATION	any	EXPLOITATION output of a behavior.
command	any	Command send to the robot.
Parameters	nbSide	int	The number of side of the polygon.
sideLenght	float	The lenght of a side of the polygon to execute.

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DirectSquare (RobotFlow:Behaviors)

To move robot in a square.

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	ACTIVATED input of a behavior.
Outputs	EXPLOITATION	any	EXPLOITATION output of a behavior.
command	any	Command send to the robot.
Parameters	sideLenght	float	The lenght of a side of the square to execute.

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DirectTriangle (RobotFlow:Behaviors)

To move robot in a triangle.

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	ACTIVATED input of a behavior.
Outputs	EXPLOITATION	any	EXPLOITATION output of a behavior.
command	any	Command send to the robot.
Parameters	sideLenght	float	The lenght of a side of the triangle to execute.

Return to: RobotFlow:Behaviors

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FollowAudioLoc (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	DATA_LOCALISATION	MarieDataLocalisation	MarieDataLocalisation object
ACTIVATED	bool	Behavior activation
PARAMS	string	rotation speed and escape state in string format (in this order)
Outputs	EXPLOITATION	any	Behavior exploitation
VELOCITY	int	output velocity
ROTATION	int	output rotation
Parameters	MAX_VELOCITY	int	linear speed (mm/s)
TRACK_STRONGEST	bool	Track the strongest (most active) source instead of the oldest

Return to: RobotFlow:Behaviors

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FollowWall (RobotFlow:Behaviors)

Follow a wall if present in the robot environment

	NAME	TYPE	MEANING
Inputs	ACTIVATED	bool	Behavior activation
LASERS	Vector	All lasers reading.
Outputs	VELOCITY	int	Robot Velocity (mm/s)
ROTATION	int	Robot Rotation value (degrees/s)
Parameters	MAX_VELOCITY	int	Velocity max (mm/s)
MIN_VELOCITY	int	Velocity min (mm/s)
MAX_ROTATION	int	Rotation speed max (degrees/s)
NB_SPEED_VALUE	int	Number of values to spread the speed
MAX_DIST_WALL	int	Distance max to be away from the wall
MIN_DIST_WALL	int	Safety distance to wall (mm)
DIST_TOL_CENTER	int	Distance tolerance to the center (mm). Used only when two walls are present
MAX_DIST_DETECTION	int	Maximum distance to look for a wall (mm)
ANGULAR_CORRECTION	int	Extra correction to apply in the heading (degrees)
ANGULAR_TRESHOLD	int	Threshold to apply a angular correction (degrees)
SCANNING_RANGE_BEGIN	int	Scan angle beginning (degrees)
SCANNING_RANGE_END	int	Scan angle ending (degrees)
NB_SCANNING_RANGE_SAMPLES	int	Numbers of laser samples to use between the scanning range
LASER_INCREMENT	float	Angle increment of the laser (degrees)
LASER_RANGE	int	Range of the laser (degrees)
DEGREE_CONFIDENCE	float	Degree of confidence to be considered as a wall
ESTIMATOR	float	Value of the estimator for the test of confidence
STD_DEVIATION	float	Std.dev of the estimator for the test of confidence
NB_SAMPLE_STD_DEVIATION	int	Numbers of samples used in the calculation of the estimator and his std.deviation

Return to: RobotFlow:Behaviors

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Goto (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	PARAMS	String	absolute target X and Y position (mm) in String format
HEADING_POS	int	robot actual heading (degrees)
X_POS	int	robot actual x postion (mm)
Y_POS	int	robot actual y postion (mm)
ACTIVATED	bool	Behavior activation
Outputs	VELOCITY	int	Robot Velocity (mm/s)
ROTATION	int	Robot Rotation value (degrees/s)
COMPLETED	bool	Goto completion state
EXPLOITATION	any	Behavior exploitation
Parameters	MAX_VELOCITY	int	Velocity max (mm/s)
MAX_ROTATION	int	Rotation speed max (degrees/s)
HEADING_OFFSET	int	Offset of the heading value with the map orientation(degrees)
GOAL_TOLERANCE	int	X and Y tolerance to consider position on goal (mm)
HEADING_TOLERANCE	int	heading tolerance to consider heading to goal (degrees)
ACTIVATE_VELOCITY_ANGLE	int	Angle range around heading that activates velocity (degrees)
VELOCITY_ANGLE_RATIO	float	Max Velocity ratio to apply when velocity angle is activated (float)

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GotoPat (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	PARAMS	String	Absolute target (X, Y) position (mm) and bool value indicating if the waypoint is a goal or an intermidate in String format
HEADING_POS	int	robot actual heading (degrees)
X_POS	int	robot actual x position (mm)
Y_POS	int	robot actual y position (mm)
ACTIVATED	bool	Behavior activation
Outputs	VELOCITY	int	Robot Velocity (mm/s)
ROTATION	int	Robot Rotation value (degrees/s)
COMPLETED	bool	Goto completion state
EXPLOITATION	any	Behavior exploitation
Parameters	MAX_VELOCITY	int	Velocity max (mm/s)
MIN_VELOCITY	int	Velocity min (mm/s)
MAX_ROTATION	int	Rotation speed max (degrees/s)
NB_SPEED_VALUE	int	Number of values to spread the speed
HEADING_OFFSET	int	Offset of the heading value with the map orientation(degrees)
GOAL_TOLERANCE	int	X and Y tolerance to consider position on goal (mm)
HEADING_TOLERANCE	int	heading tolerance to consider heading to goal (degrees)
DISCARD_DIST_INTER_GOAL	int	Distance to discard intermediate goal

Return to: RobotFlow:Behaviors

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Grasp (RobotFlow:Behaviors)

Put the gripper in deployed position, and grasp something when

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	No description available
GripperState	TP2GripperState	Object containing boolean values describing Pioneer2 gripper state.
xPos	float	Robot's 'X' coordinate.
yPos	float	Robot's 'Y' coordinate.
Heading	float	Robot's heading.
Outputs	EXPLOITATION	any	No description available
GripperCommand	int	No description available
VELOCITY	int	No description available
ROTATION	int	No description available
GRASP_STATE	bool	No description available
Parameters	TRANS_VEL	int	No description available
ROT_VEL	int	No description available
BACKUP_DIST	int	No description available
SECONDS_TO_MOVE_AWAY	float	No description available

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Inhibition (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	INHIBIT	any	No description available
INPUT	any	No description available
Outputs	OUTPUT	any	No description available
Parameters	none	none	none

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MinimumDistance (RobotFlow:Behaviors)

Safe Velocity behavior

	NAME	TYPE	MEANING
Inputs	SONARS	Vector	All sonars reading.
ACTIVATED	any	Behavior activation.
Outputs	VELOCITY	int	Robot Velocity
HEADING	int	Robot Heading
EXPLOITATION	any	Behavior exploitation.
Parameters	VELOCITY	int	Forward
ROTATION	int	Rotation command (deg/sec)
MIN_DISTANCE	float	Minimum distance to keep between robot and objects.

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MoveAndTurn (RobotFlow:Behaviors)

A simple behavior to get a robot to move and turn in a certain direction and for a certain time.

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	No description available
RESET	bool	Reset the sequence of move-turn-wait
Outputs	EXPLOITATION	any	No description available
ROTATION	int	Rotation to apply.
VELOCITY	int	Velocity to apply.
Parameters	VELOCITY_VALUE	int	Velocity to apply.
KEEP_VELOCITY_TIME	int	Time required to apply velocity (in seconds).
ROTATION_VALUE	int	Rotation value (in degrees).
KEEP_ROTATION_TIME	int	Time to keep the rotation value active (in seconds).
INACTIVE_TIME	int	Time where both outputs are not active (in seconds).

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MultiSignTracking (RobotFlow:Behaviors)

Recognization of multiple signs.

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	Behavior activation.
COMPONENTS	ComponentsData	The components from the image.
Outputs	EXPLOITATION	any	Exploitation of the behavior (computed in Behavior.cc)
HEADING	int	The heading command
VELOCITY	int	The velocity command
COMPONENTS	ComponentsData	Components ready for text extraction, if not ready returns nilObject
DELTA_X	float	The difference between the center of the image ant the biggest blob (x).
DELTA_Y	float	The difference between the center of the image ant the biggest blob (y).
BOUNDARY	float	The minimum size (in pixel) around the blob in the image.
Parameters	MIN_WIDTH	int	minimum width to obtain before we are ready for recognition.
MIN_HEIGHT	int	minimum height to obtain before we are ready for recognition.
FOREGROUND_COLOR_ID	int	The color number being tracked.
BACKGROUND_COLOR_ID	int	The color number being tracked.

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NewBehavior (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	No description available
Outputs	EXPLOITATION	any	No description available
Parameters	BEHAVIOR_NAME	string	The new behavior name.

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Obey (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	ACTIVATED	bool	Behavior activation
PARAMS	string	rotation speed and escape state in string format (in this order)
Outputs	EXPLOITATION	any	Behavior exploitation
VELOCITY	int	output velocity
ROTATION	int	output rotation
Parameters	MAX_VELOCITY	int	linear speed (mm/s)
MAX_ROTATION	int	rotation speed (degrees/s)

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ParametrizedAvoid (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	LEFT_FRONT	float	Left sonar value
FRONT	float	Front sonar value
RIGHT_FRONT	float	Right sonar value
PARAMS	string	rotation speed and escape state in string format (in this order)
ACTIVATED	bool	Behavior activation
Outputs	ROTATION	int	Rotation value
EXPLOITATION	any	Behavior exploitation
Parameters	DETECTION_RANGE	float	No description available
ESCAPE_RANGE	float	satisfiying range for escape

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RandomTurn (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	No description available
Outputs	EXPLOITATION	any	No description available
ROTATION	any	No description available
Parameters	RANDOM_TIME	int	Time before getting a new random rotation value.
ROTATION_VALUE	int	Maximum random rotation value.
KEEP_ROTATION_TIME	int	Time to keep the rotation value active.

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RangeFashion (RobotFlow:Behaviors)

Fusion range device in a unique percept

	NAME	TYPE	MEANING
Inputs	ACTIVATED	bool	Behavior activation
LASER	Vector	All lasers reading.
SONAR	Vector	All sonars reading.
IR	Vector	All IRs reading.
Outputs	RANGE_BELT	Vector	Percept after fusion
EXPLOITATION	any	Behavior exploitation
Parameters	TYPE_FASHION	int	Determine of to make the sensor fashion
MAX_DIST	int	Distance when no data from sensor (mm)
MAX_DIST_IR	int	Max range detection of IR (mm)
MAX_DIST_SONAR	int	Max range detection of sonar (mm)
MAX_DIST_LASER	int	Max range detection of laser (mm)

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Rest (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	No description available
Outputs	EXPLOITATION	any	No description available
velocity	any	No description available
relHeading	any	No description available
Parameters	none	none	none

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SafeVelocity (RobotFlow:Behaviors)

Safe Velocity behavior

	NAME	TYPE	MEANING
Inputs	FORWARD_VELOCITY	int	Forward velocity of the robot.
FRONT	float	Front sonar reading.
BACK	float	Back sonar reading.
ACTIVATED	bool	Behavior activation.
Outputs	VELOCITY	int	Robot Velocity
EXPLOITATION	any	Behavior exploitation.
Parameters	MAX_FORWARD_VELOCITY	int	Maximum velocity allowed (mm/s).
BACKWARD_VELOCITY	int	Default value when going backward.
FRONT_DISTANCE	float	Front sonar reading befoir going backward.
BACK_DISTANCE	float	Back sonar reading before going forward.

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SafeVelocityPat (RobotFlow:Behaviors)

Safe Velocity behavior

	NAME	TYPE	MEANING
Inputs	ACTIVATED	bool	Behavior activation.
DESIRED_VELOCITY	int	Desired velocity of the robot
ROTATION	int	Desired rotation of the robot
RANGE_BELT	Vector	Distance of the obstacle to the robot
Outputs	VELOCITY	int	Output velocity
EXPLOITATION	any	Behavior exploitation.
Parameters	MAX_VELOCITY	int	Maximum velocity allowed (mm/s).
MIN_VELOCITY	int	Minimum velocity to beat friction (mm/s) (-1 to disable).
MAX_DISTANCE	int	Maximum distance of the protection (mm)
MIN_DISTANCE	int	Maximum distance of the protection (mm)
SIDE_FACTOR	float	Factor to scale de security distance for the side
MAX_VEL_CORRECTION	int	Maximum velocity correction to apply

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SignTracking (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	ACTIVATED	any	No description available
COMPONENTS	ComponentsData	The components from the image.
Outputs	EXPLOITATION	any	Exploitation of the behavior (computed in Behavior.cc)
HEADING	int	The heading command
VELOCITY	int	The velocity command
RECT	CRect	The CRect if properly scaled and ready for recognition, else nilObject.
DELTA_X	float	The difference between the center of the image ant the biggest blob (x).
DELTA_Y	float	The difference between the center of the image ant the biggest blob (y).
AREA	float	The Area of the color blob
WIDTH	float	The width of the color blob
HEIGHT	float	The height of the color blob
BOUNDARY	float	The minimum size (in pixel) around the blob in the image.
Parameters	MIN_WIDTH	int	minimum width to obtain before we are ready for recognition.
MIN_HEIGHT	int	minimum height to obtain before we are ready for recognition.
FOREGROUND_COLOR_ID	int	The color number being tracked.
BACKGROUND_COLOR_ID	int	The color number being tracked.

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Subsumption (RobotFlow:Behaviors)

No description available

	NAME	TYPE	MEANING
Inputs	HIGH_PRIORITY	any	No description available
LOW_PRIORITY	any	No description available
Outputs	OUTPUT	any	No description available
Parameters	none	none	none

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TrackAudioLoc (RobotFlow:Behaviors)

Compute a CommandCamera from a DataLocalisation

	NAME	TYPE	MEANING
Inputs	DATA_LOCALISATION	MarieObject	MarieObject object containing a DataLocalisation data
ACTIVATED	bool	Behavior activation
PARAMS	string	rotation speed and escape state in string format (in this order)
Outputs	EXPLOITATION	any	Behavior exploitation
PAN	float	pan in degree computed from DATA_LOCALISATION
TILT	float	tilt in degree computed from DATA_LOCALISATION
Parameters	TRACK_STRONGEST	bool	Track the strongest (most active) source instead of the oldest

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* NODE DOCUMENTATION *Categories of available FlowDesigner Nodes

Categories:

* RobotFlow:Vision:Tracking (9)

List of available FlowDesigner nodes

DrawPFParticle (RobotFlow:Vision:Tracking)

GetVisualROIParam (RobotFlow:Vision:Tracking)

MeanShiftTracker (RobotFlow:Vision:Tracking)

MultiIntegralCuesPFTracker (RobotFlow:Vision:Tracking)

PFGenericParticleFilter (RobotFlow:Vision:Tracking)

PFPMRandomWalk (RobotFlow:Vision:Tracking)

PFState2VisualROI (RobotFlow:Vision:Tracking)

VisualTargetManager (RobotFlow:Vision:Tracking)

VisualTargetPFInterface (RobotFlow:Vision:Tracking)

* RobotFlow:Vision:OpenCV (1)

List of available FlowDesigner nodes

TextSignDetect (RobotFlow:Vision:OpenCV)

* RobotFlow:Vision:FeaturesExtraction (4)

List of available FlowDesigner nodes

ColorHistExtraction (RobotFlow:Vision:FeaturesExtraction)

IntegralColorExtraction (RobotFlow:Vision:FeaturesExtraction)

IntegralEdgesOriExtraction (RobotFlow:Vision:FeaturesExtraction)

IntegralLBPExtraction (RobotFlow:Vision:FeaturesExtraction)

* RobotFlow:Vision:Detection (3)

List of available FlowDesigner nodes

CvFaceDetection (RobotFlow:Vision:Detection)

SkinColorGMMSegm (RobotFlow:Vision:Detection)

SkinColorHistSegm (RobotFlow:Vision:Detection)

* RobotFlow:Vision (45)

List of available FlowDesigner nodes

BMPLoad (RobotFlow:Vision)

BMPSave (RobotFlow:Vision)

Binarize (RobotFlow:Vision)

Bt848 (RobotFlow:Vision)

ColorTracker (RobotFlow:Vision)

Components (RobotFlow:Vision)

ComponentsDraw (RobotFlow:Vision)

ComponentsViewer (RobotFlow:Vision)

ExtractSentence (RobotFlow:Vision)

ExtractSentence_v2 (RobotFlow:Vision)

FakeImage (RobotFlow:Vision)

GrayGaussianBlur (RobotFlow:Vision)

HoughTransform (RobotFlow:Vision)

ImageAnd (RobotFlow:Vision)

ImageCorrellation (RobotFlow:Vision)

ImageOr (RobotFlow:Vision)

InverseHough (RobotFlow:Vision)

JPEGLoadMemory (RobotFlow:Vision)

JPEGSave (RobotFlow:Vision)

LoadImage (RobotFlow:Vision)

Magn2EdgeMap (RobotFlow:Vision)

Magnitude (RobotFlow:Vision)

MovementDetector (RobotFlow:Vision)

MultiColorTracker (RobotFlow:Vision)

PPMImage (RobotFlow:Vision)

Posterize (RobotFlow:Vision)

PrintLines (RobotFlow:Vision)

RGB152GREY (RobotFlow:Vision)

RGB242RGB15 (RobotFlow:Vision)

RGB5552RGB24 (RobotFlow:Vision)

RGBMerge (RobotFlow:Vision)

RGBSplit (RobotFlow:Vision)

RectAnalyser (RobotFlow:Vision)

RectBoundaries (RobotFlow:Vision)

Scale (RobotFlow:Vision)

ScalePrint (RobotFlow:Vision)

SplitImage (RobotFlow:Vision)

StatIntensityAnalyser (RobotFlow:Vision)

SubImage (RobotFlow:Vision)

Surround (RobotFlow:Vision)

SymbolCounter (RobotFlow:Vision)

SymbolExtractor (RobotFlow:Vision)

SymbolLoad (RobotFlow:Vision)

SymbolSegmenter (RobotFlow:Vision)

SymbolTracker (RobotFlow:Vision)

* RobotFlow:Robots (3)

List of available FlowDesigner nodes

RobotConnect (RobotFlow:Robots)

RobotPTZ (RobotFlow:Robots)

RobotSonars (RobotFlow:Robots)

* RobotFlow:Probes (10)

* NODE DOCUMENTATION *

Categories of available FlowDesigner Nodes