DOCSLIB.ORG

TECHNISCHE UNIVERSITÄT MÜNCHEN The

Total Page：16

File Type：pdf, Size：1020Kb

Download full-text PDF Read full-text
TECHNISCHE UNIVERSITÄT MÜNCHEN The TECHNISCHE UNIVERSITÄT MÜNCHEN Lehrstuhl für Informatik XXIII Sensor Based Robotic Systems and Intelligent Assistance Systems The Cognitive Robot Abstract Machine: A Framework for Cognitive Robotics Lorenz Mösenlechner Vollständiger Abdruck der von der Fakultät für Informatik der Technischen Universität München zur Erlangung des akademischen Grades eines Doktors der Naturwissenschaften (Dr. rer. nat.) genehmigten Dissertation. Vorsitzende: Univ.-Prof. Gudrun Klinker, Ph.D. Prüfer der Dissertation: 1. Univ.-Prof. Michael Beetz Ph.D., Universität Bremen 2. Univ.-Prof. Dr. Alin Albu-Schäffer Die Dissertation wurde am 19.08.2015 bei der Technischen Universität München ein- gereicht und durch die Fakultät für Informatik am 26.02.2016 angenommen. Abstract With the development of mobile robotic platforms that can operate in domestic do- mains such as a human household, for instance Willow Garage’s PR2, solving tasks such as cleaning up or cooking food has become possible. The software that controls these robots became more and more complex and recent research provides solutions for navigation, manipulation and perception. With rising complexity of the tasks to be performed, the requirements for a high level executive that orchestrates arm mo- tions, navigation and perception changed towards a tight integration of planning, reasoning and action execution. This thesis describes CRAM, a complete framework for implementing cognitive high-level robot control programs to enable robotic agents to execute their tasks more robustly, reliably and flexibly. CRAM combines a powerful language for programming robot actions with sophisti- cated reasoning mechanisms. This allows the programmer to state plans more ab- stractly by letting the robot make decisions based on its current belief about the en- vironment and the predicted future course of actions. More specifically, besides the plan language, CRAM provides a Prolog-like reasoning engine and many components to solve problems such as where to stand to perform actions, is an object visible to the robot from a certain location, from where can an object be seen or grasped but also components that allow the robot to reason about what it did, when and why. In addi- tion to providing the means for implementing high-level control programs, the system also provides components for predicting the outcome of a plan. This, in combination with the other reasoning modules, allows the robot to base its decisions not only on knowledge about the current state of the world but to integrate the future course of actions. III Kurzfassung Mit der Entwicklung mobiler Roboterplattformen wie Willow Garages PR2, die in häuslichen Umgebungen, wie zum Beispiel einem Haushalt, operieren können, wurde die Ausführung anspruchsvoller Aufgaben wie putzen oder kochen mit diesen Robo- tern möglich. Die Software, die diese Roboter steuert, ist immer komplexer gewor- den und aktuelle Forschungsergebnisse bieten Lösungen für Navigation, Manipulati- on und Perzeption. Mit zunehmender Komplexität der zu erfüllenden Aufgaben ha- ben sich auch die Anforderungen an eine übergeordnete Kontrollschicht hin zu einer Integration von Planungsalgorithmen, logischem Schließen und der Ausführung von Aktionen verändert. In der hier vorliegenden Arbeit wird CRAM beschrieben, ein kom- plettes Framework um kognitive Kontrollprogramme für Roboter zu entwickeln, die es ihnen erlauben, ihre Aufgaben robuster, zuverlässiger und flexibler zu erfüllen. CRAM kombiniert eine Programmiersprache zur Robotersteuerung mit Mechanismen zum automatischen Ziehen logischer Schlussfolgerungen. Damit kann der Program- mierer Pläne abstrakter schreiben und dem Roboter bestimmte Entscheidungen über- lassen, die dieser basierend auf seinem Umgebungsmodell und einer Vorhersage zu- künftiger Aktionen treffen kann. Neben einer Programmiersprache zum Schreiben von Plänen enthält CRAM eine prologartige Sprache zur Lösung logischer Probleme sowie eine Vielzahl anderer Komponenten, die es ermöglichen, Probleme, wie zum Beispiel wo der Roboter stehen soll um bestimmte Aktionen auszuführen, ob ein Ob- jekt an einer bestimmten Stelle sichtbar ist oder wo der Roboter stehen soll, um ein bestimmtes Objekt zu sehen oder zu greifen, zu lösen. Daneben entält CRAM Kom- ponenten, die dem Roboter Schlüsse über seine Aktionen erlauben, insbesondere was er getan hat, wann und aus welchem Grund. Zusätzlich enthält CRAM Komponen- ten um die Effekte und Ergebnisse von Plänen vorherzusagen, was es dem Roboter in Kombination mit den anderen Inferenzalgorithmen ermöglicht, Entscheidungen nicht V nur basierend auf Wissen über den aktuellen Zustand der Umgebung, sondern auch unter Einbeziehung zukünftiger möglicher Weltzustände zu treffen. VI Acknowledgements The work presented in this thesis would not have been possible without the support of my advisor Michael Beetz. I want to thank him for his great vision, the many mo- tivating and fruitful discussions and the support I got from him. Furthermore, I want to thank all my colleagues who provided a great and unique working atmosphere, for the many interesting and enriching discussions I had with them. I especially want to thank Moritz Tenorth, Ulrich Klank, Dominik Jain, Nico Blodow, Thibault Kruse for their friendship and for the many things I could learned from them. They helped me to become a better scientist and a better software engi- neer. I also owe thanks to my former students Nikolaus Demmel, Tobias Rittweiler and Gayane Kazhoyan for helping me with the implementation of CRAM and for giving me valuable feedback on its design. I also want to thank Elena, my wife, for enriching my live and for the support and the motivation she gave me during my academic career. And last but not least I want to thank my family and my friends for their encourage- ment and support. VII Contents Abstract III KurzfassungV Acknowledgements VII ContentsIX List of Resources XIII 1 Introduction1 1.1 Problem Description...............................4 1.2 System Architecture............................... 10 1.3 Contributions................................... 16 1.4 Reader’s Guide................................... 18 2 The CRAM Software Architecture 21 2.1 The CRAM Plan Language............................ 23 2.1.1 Language Syntax............................. 24 2.1.2 Definition of Terms........................... 32 2.1.3 Fluents................................... 35 2.1.4 CRAM Plan Language Expressions.................. 46 2.2 Reasoning and the CRAM Prolog Interpreter................ 66 2.2.1 Implementation of the Prolog Interpreter.............. 69 2.2.2 Implementation of Predicates..................... 70 2.3 Symbolic Plan Parametrization......................... 74 2.3.1 Designator Concepts........................... 74 2.3.2 Designator Resolution.......................... 81 IX Contents 2.4 Process Modules.................................. 85 2.4.1 The CRAM Process Module Interface................. 88 2.4.2 Synchronous and Asynchronous Action Execution........ 91 2.5 The CRAM Plan Library............................. 95 2.5.1 Transparent Plans............................ 95 2.5.2 Goals in the Current CRAM System................. 98 2.6 Related Work.................................... 102 2.7 Discussion..................................... 103 3 CRAM Reasoning Extensions 105 3.1 Physics-Based Reasoning............................. 106 3.1.1 Physics Engine Integration and the World Database....... 110 3.1.2 Visibility Computation......................... 126 3.1.3 Reachability Reasoning......................... 131 3.1.4 Belief State Representation using CRAM’s World Database... 139 3.2 Reasoning about Plan Execution........................ 143 3.2.1 Representation of Execution Traces................. 145 3.2.2 Querying Execution Traces....................... 148 3.2.3 Examples for Reasoning on Execution Traces............ 157 3.3 Related Work.................................... 160 3.4 Discussion..................................... 161 4 Parameterizing Plans 163 4.1 Density Maps for Sampling Solution Candidates.............. 165 4.1.1 Implementation of Density Maps................... 169 4.2 Generation of Height and Orientation Values................ 189 4.3 The Density Map Generator API and Implementation Details...... 191 4.3.1 The Internal Representation of Density Maps and Generators. 192 4.3.2 Prolog API for Integration in Designator Resolution....... 194 4.3.3 Integration in Designator Resolution................. 197 4.4 Related Work.................................... 198 4.5 Discussion..................................... 198 X Contents 5 Temporal Projection of Plans 201 5.1 Projection of Plans and Generation of Timelines.............. 203 5.1.1 The Projection Environment...................... 203 5.1.2 Process Modules for Projection.................... 205 5.2 Handling of Time in Projection......................... 209 5.3 Definition and Matching of Behavior Flaws................. 211 5.4 Location Designator Optimization Using Projection............ 217 5.5 Related Work.................................... 217 5.6 Discussion..................................... 218 6 Conclusion 221 Bibliography 231 Index 239 XI List of Resources Figures 1.1 The PR2 (left) and TUM Rosie (right).....................2 1.2 In our example, silverware, mugs and plates are stored in two different drawers at the counter...............................5 1.3 Table set for breakfast for two persons. This is the final configuration for the example in this Section..........................9
Load more

Recommended publications
  • Java Programming Standards & Reference Guide
    Java Programming Standards & Reference Guide Version 3.2 Office of Information & Technology Department of Veterans Affairs Java Programming Standards & Reference Guide, Version 3.2 REVISION HISTORY DATE VER. DESCRIPTION AUTHOR CONTRIBUTORS 10-26-15 3.2 Added Logging Sid Everhart JSC Standards , updated Vic Pezzolla checkstyle installation instructions and package name rules. 11-14-14 3.1 Added ground rules for Vic Pezzolla JSC enforcement 9-26-14 3.0 Document is continually Raymond JSC and several being edited for Steele OI&T noteworthy technical accuracy and / PD Subject Matter compliance to JSC Experts (SMEs) standards. 12-1-09 2.0 Document Updated Michael Huneycutt Sr 4-7-05 1.2 Document Updated Sachin Mai L Vo Sharma Lyn D Teague Rajesh Somannair Katherine Stark Niharika Goyal Ron Ruzbacki 3-4-05 1.0 Document Created Sachin Sharma i Java Programming Standards & Reference Guide, Version 3.2 ABSTRACT The VA Java Development Community has been establishing standards, capturing industry best practices, and applying the insight of experienced (and seasoned) VA developers to develop this “Java Programming Standards & Reference Guide”. The Java Standards Committee (JSC) team is encouraging the use of CheckStyle (in the Eclipse IDE environment) to quickly scan Java code, to locate Java programming standard errors, find inconsistencies, and generally help build program conformance. The benefits of writing quality Java code infused with consistent coding and documentation standards is critical to the efforts of the Department of Veterans Affairs (VA). This document stands for the quality, readability, consistency and maintainability of code development and it applies to all VA Java programmers (including contractors).
    [Show full text]
  • Declaring Data Member Public C
    Declaring Data Member Public C Rickard brooch stickily. Interceptive and hamulate Connie enure, but Norbert crossways extinguishes her patroness. Is Mario estimated or electrotonic when strangulating some moribundity deified deeply? Optimize for declaring data member public If dynamic allocation is necessary, prefer to keep ownership with the code that allocated it. This process of creating an object from a class is known as instantiation. Here is the quite surprising output of the program. Data attributes need not be declared; like local variables, they spring into existence when they are first assigned to. The term __________ means the ability to takemany forms. In many cases, this is not a problem, but it is a problem in some cases. Use rvalue references only in certain special cases listed below. By default, functions and data members of the class are public. How many data members should be in every class and why? Is it acceptable to omit default constructors in a class? For accessing the data, the declaration of a friend function should be done inside the body of a class starting with the keyword friend. The constructor is declared much like a normal member function but it will share the name of the class and it has no return value. Spirit would be impossible without it. The basic idea is really very simple. Giving sensible names to types and variables is much better than using obscure names that you must then explain through comments. Special member functions called constructors and destructors. This makes it impossible for the class to ensure that invariant properties of that variable are respected.
    [Show full text]
  • Classes in C++
    Classes in C++ Bryce Boe 2012/08/15 CS32, Summer 2012 B Overview • Finish Sor?ng recap • Thinking object oriented recap • Classes in C++ • Building a class in C++ (real ?me demo) Sor?ng recap • Bubble sort • Inser?on sort • Selec?on sort • Merge sort • Heapsort • Quicksort Thinking object oriented recap • Language as an influence of thought process • OO concepts – Separaon of interface and implementaon – Informaon hiding – Inheritance • Wri?ng reusable code Exci?ng Note for Today • The gcc compiler now requires C++ to build – Essen?ally means parts of the gcc compiler are wriVen in C++ • hp://gcc.gnu.org/git/? p=gcc.git;a=commit;h=2b15d2ba7eb3a25d]1 5a7300f4ee7a141ee8539 Structures • Structures provide a way to organize data • Structures in C++ are essen?ally classes, not true in C Classes • an object is a variable that has member func?ons (instance methods) • a class is a data type whose variables are objects • Class – Describe the kind of values the variables hold (state) – Describe the member func?ons (behavior) Terminology • The book uses member to mean a par?cular instance of a class • The book uses members to mean aributes of a class (variables and methods) • Funcon and method are somewhat used interchangeably • Similar: – member variable = instance variable – member method = instance method Classes • Provide encapsulaon – Combining a number of items, such as variables and func?ons, into a single package, such as an object of some class (or instance of the class) Scope Resolu?on Operator • ClassName::method_name • Used to iden?fy
    [Show full text]
  • About Classes 14.1 Instance and Static Members Tree Class
    Ch 14: More About Classes 14.1 Instance and Static Members ! instance variable: a member variable in a class. Each object (instance) has its own copy. CS 2308 ! static variable: one variable shared among all Fall 2013 objects of a class Jill Seaman ! static member function: - can be used to access static member variable; ‣ normal functions can access static member variables, too - but it cannot access instance variables 1 - can be called before any objects are defined2 string name1 = “Steve Jobs”; string name1 = “Steve Jobs”; cout << “Name” << name1 << endl; cout << “Name” << name1 << endl; Tree class declaration Program demo of static variable // Tree class class Tree { private: Static member variable #include <iostream> static int objectCount; declared here using namespace std; public: #include "Tree.h" Tree(); int getObjectCount(); int main() { }; Tree oak; Tree elm; // Definition of the static member variable, written Tree pine; // outside the class. Static member variable int Tree::objectCount = 0; defined here (required) cout << “We have “ << pine.getObjectCount() // Member functions defined << “Trees in our program.\n”; Tree::Tree() { Static variable is incremented objectCount++; each time Tree is constructed. } } int Tree::getObjectCount() { return objectCount; What will be the output? } 3 4 string name1 = “Steve Jobs”; string name1 = “Steve Jobs”; cout << “Name” << name1 << endl; cout << “Name” << name1 << endl; Three Instances of the Tree Class, static member function But Only One objectCount Variable ! Declared with static
    [Show full text]
  • More on Classes (Chapter 14.1, 14.3-14.5)
    More on Classes (Chapter 14.1, 14.3-14.5) Dr. Yingwu Zhu 14.1 Instance and Static Members Instance and Static Members • instance variable: a member variable in a class. Each object has its own copy. • static variable: one variable shared among all objects of a class • static member function: can be used to access static member variable; can be called before any objects are defined 14-3 static member variable Contents of Tree.h 1 // Tree class 2 class Tree Static member declared here. 3 { 4 private: 5 static int objectCount; // Static member variable. 6 public: 7 // Constructor 8 Tree() 9 { objectCount++; } 10 11 // Accessor function for objectCount 12 int getObjectCount() const 13 { return objectCount; } 14 }; Static member defined here. 15 16 // Definition of the static member variable, written 17 // outside the class. 18 int Tree::objectCount = 0; 14-4 14-5 Three Instances of the Tree Class, But Only One objectCount Variable 14-6 static member function • Declared with static before return type: static int getObjectCount() const { return objectCount; } • Static member functions can only access static member data (Why ?) • Can be called independent of objects: int num = Tree::getObjectCount(); 14-7 Modified Version of Tree.h 1 // Tree class 2 class Tree 3 { 4 private: 5 static int objectCount; // Static member variable. 6 public: 7 // Constructor 8 Tree() 9 { objectCount++; } 10 11 // Accessor function for objectCount 12 static int getObjectCount() const 13 { return objectCount; } 14 }; 15 16 // Definition of the static member variable, written 17 // outside the class. 18 int Tree::objectCount = 0; Now we can call the function like this: cout << "There are " << Tree::getObjectCount() << " objects.\n"; 14-8 14.3 Memberwise Assignment Memberwise Assignment • Can use = to assign one object to another, or to initialize an object with an object’s data • Copies member to member.
    [Show full text]
  • Disadvantage of Declaring Static Variable and Function
    Disadvantage Of Declaring Static Variable And Function FergusonTendencious when Towny ironical sawders and close-mouthed some diapause Kyle and burgeon confides some his desirableness materialness? so Patric inhumanely! intwined How maybe. dissociative is For a programmer should never knew that of declaring a cost to? Java is pretty much better solution, of declaring static variable and isolating change the type. Class requires it a global variables in small programs of other disadvantage of declaring static variable and function name as you want to use any. Professional programmers prefer dynamic memory allocation more over static memory allocation. Local function or move operations work in java class members. And also learned about the potential disadvantage of using static methods. An identifier must release with a letter always be followed by zero or more letters, digits or underscores. Variables are in static variable of declaring functions? They should look at best practices on function in kotlin, disadvantages of a struct globally declared to be accessed from one disadvantage to? Avoid type of the end of the instance methods used and static variable function of declaring local to. Should but Avoid the Embrace Static Beyond Java. Static method be expanded when a good idea i am i am would say a particular, or more obvious advantages and. PHP I can use your single function to hospital the excel thing. And you don't have to hurt your own method to instantiate BlogController. When a static member is declared private the non member functions cannot. You either drain the accompany of static or not. Sigh, I introduce do miss Smalltalk.
    [Show full text]
  • PHP and Mysql PHP and Mysql
    Wandschneider.book Page i Tuesday, August 5, 2008 2:14 PM PHP and MySQL Marc Wandschneider Upper Saddle River, NJ • Boston • Indianapolis • San Francisco New York • Toronto • Montreal • London • Munich • Paris • Madrid Capetown • Sydney • Tokyo • Singapore • Mexico City Wandschneider.book Page ii Tuesday, August 5, 2008 2:14 PM Copyright © 2009 Pearson Education, Inc. Publisher All rights reserved. Printed in the United States of America. This publication is Paul Boger protected by copyright, and permission must be obtained from the publisher prior to any Editor-in-Chief prohibited reproduction, storage in a retrieval system, or transmission in any form or by Mark L. Taub any means, electronic, mechanical, photocopying, recording, or likewise. No part of this LiveLessons book or DVD set may be reproduced or transmitted in any form or by any Video Project Manager means, electronic or mechanical, including photocopying, recording, or by any John A. Herrin information storage and retrieval system, without written permission from the publisher, except for the inclusion of brief quotations in a review. Editorial Assistant Kim Boedigheimer For information regarding permissions, write to: Pearson Education, Inc., Rights and Contracts Department, 501 Boylston Street, Suite 900, Boston, MA 02116, Fax (617) Managing Editor 671-3447. John Fuller Library of Congress Control Number: 2008933546 Project Editor Visit us on the Web: informit.com/ph Julie B. Nahil Corporate and Government Sales Copy Editor The publisher offers excellent discounts on this LiveLesson when ordered in quantity for Ruth Davis bulk purchases or special sales, which may include custom covers and content particular to your business, training goals, marketing focus, and branding interests.
    [Show full text]
  • Class — Object-Oriented Programming (Classes)
    Title stata.com class — Object-oriented programming (classes) Syntax Description Remarks and examples Also see Syntax class classname extends classname { declaration(s) } Syntax is presented under the following headings: Introduction Example Declaration of member variables Declaration and definition of methods (member functions) Default exposure in declarations Description and Remarks and examples follow that. Introduction Stata’s two programming languages, ado and Mata, each support object-oriented programming. This manual entry explains object-oriented programming in Mata. Most users interested in object-oriented programming will wish to program in Mata. See[ P] class to learn about object-oriented programming in ado. Example The following example is explained in detail in Description. class coord { real scalar x, y real scalar length(), angle() } real scalar coord::length() { return(sqrt(x^2 + y^2)) } real scalar coord::angle() { return(atan2(y, x)*360/(2*pi())) } class rotated_coord extends coord { real scalar theta real scalar angle() void new() } 1 2 class — Object-oriented programming (classes) real scalar rotated_coord::angle() { return(super.angle() - theta) } void rotated_coord::new() { theta = 0 } One could use the class interactively: : b = rotated_coord() : b.x = b.y = 1 : b.angle() // displayed will be 45 : b.theta = 30 : b.angle() // displayed will be 15 Note that executing the class as if it were a function creates an instance of the class. When using the class inside other functions, it is not necessary to create the
    [Show full text]
  • Chapter 10: Object-Oriented Programming in Labview
    Bitter, Rick et al "Object-Oriented Programming in LabVIEW" LabVIEW Advanced Programming Techinques Boca Raton: CRC Press LLC,2001 Object-Oriented 10 Programming in LabVIEW This chapter applies a different programming paradigm to G: Object-Oriented Pro- gramming (OOP). New languages like Java and its use on the Internet have created a lot of interest in this programming paradigm. This chapter explains the concepts that make object-oriented programming work, and applies them to programming in LabVIEW. This chapter begins with definitions of objects and classes. These are the fun- damental building blocks of OOP. Key definitions that define OOP are then presented which give a foundation for programmers to view applications in terms of their constituent objects. Once the basics of OOP are described, the first stage of objects is presented-- object analysis. Fundamentally, the beginning of the design is to identify the objects of the system. Section 10.4 discusses Object Design, the process by which methods and properties are specified. The interaction of objects is also defined in the design phase. The third and last phase is the Object Programming phase. This is where the code to implement the methods and properties is performed. This type of structuring seems foreign or even backward to many programmers with experience in structured languages such as LabVIEW. Object-oriented is how programming is currently being taught to computer science and engineering students around the world. A significant amount of effort has been put into the design of a process to produce high-quality software. This section introduces this type of phi- losophy to LabVIEW graphical programming.
    [Show full text]
  • Coding Conventions: 1.03
    Fiercefun.com Coding Conventions: 1.03 Please note that these conventions are not optional. Any project not following these conventions will not be used in production. Coding conventions are style guidelines for programming. They typically cover: ● Naming and declaration rules for variables and functions. ● Rules for the use of white space, indentation, and comments. ● Programming practices and principles Fierce Fun primarily uses C# and scripting languages (ActionScript, JavaScript, PHP) so our coding conventions follow those used primarily in Java/JavaScript standards. The Importance of Naming Choosing good names for variables, functions and classes is critical to creating code that is easy to use and easy to understand. You should always take the time to think about whether you have chosen the right name for something. Properly naming and commenting items is one of the most critical task of software projects. At all times, developers should care about and adhere to this critical task. Version Control GitHub Unity Collaborate Links Our conventions are based on the following https://docs.microsoft.com/en-us/dotnet/csharp/programming-guide/inside-a-program/coding- conventions C# https://pear.php.net/manual/en/standards.php (PHP) Fierce Fun ©. Private and Confidential General Coding Practise At Fierce Fun, we classify code as development and production. Development Code Development is what you work on day-to-day. It can be messy at time, undocumented and buggy. Effectively it is your in-progress work and only you will see it. Production Code Production code is what you submit for review on a weekly basis. This code could be used in the final production build so it should be clean, organised and commented before submitting.
    [Show full text]
  • ASTG Coding Standard Recommended Coding Styles For
    ASTG Coding Standard Recommended Coding Styles for Software Development in Fortran, C++, Java, and Python Version 1.7 ASTG January 20, 2015 CONTENTS CONTENTS Contents 1 Introduction 1 1.1 Purpose Of Conventions . .1 1.2 Why Use Conventions . .1 1.3 When NOT To Use These Conventions . .1 1.4 When To Use These Conventions . .1 2 Files 2 2.1 Naming Files . .2 2.1.1 Use Class/Module Name For File Name . .2 2.1.2 Extensions . .2 2.2 File Organization . .2 2.2.1 C/C++ Header Files . .3 2.2.2 C/C++ Source Files . .3 2.2.3 Fortran Files . .3 2.2.4 Java Files . .3 2.2.5 Python Files . .4 2.3 C++ Preprocessing . .4 2.3.1 Minimal Includes . .4 2.3.2 Brackets Verses Quotes . .4 2.3.3 Inclusion Protection . .4 2.3.4 Avoid Macros . .5 3 Formatting 5 3.1 Blank Space . .5 3.1.1 Blank Spaces . .5 3.1.2 Indentation . .6 3.2 Lines . .6 3.2.1 Line Length . .6 3.2.2 Line Continuation . .6 3.2.3 Single Blank Lines . .7 3.2.4 Double Blank Lines . .7 3.3 Fortran Free-Format . .7 4 Naming 7 4.1 Expressiveness and Scope . .7 4.2 Abbreviations . .7 4.2.1 Avoid Uncommon Abbreviations . .7 4.2.2 Use Mixed Case Acronyms . .8 4.3 Case and Underscores . .8 4.4 Naming Rules For Identifiers . .8 5 Declarations 9 5.1 Routines . .9 5.1.1 Verbs for Routines . .9 5.1.2 Accessors and Mutators .
    [Show full text]
  • C and C++ Coding Standards
    BSSC(2000)1 Issue 1 C and C++ Coding Standards Prepared by: ESA Board for Software Standardisation and Control (BSSC) european space agency / agence spatiale européenne 8-10, rue Mario-Nikis, 75738 PARIS CEDEX, France BSSC(2000)1 Issue 1 ii DOCUMENT STATUS SHEET DOCUMENT STATUS SHEET DOCUMENT STATUS SHEET 1. DOCUMENT TITLE: BSSC(2000)1 2. ISSUE 3. REVISION 4. DATE 5. REASON FOR CHANGE 1 0 2000 Approved, March 30th 2000 Board for Software Standardisation and Control M. Jones and U. Mortensen, BSSC co-chairmen Copyright © 2000 by European Space Agency BSSC(2000)1 Issue1 iii TABLE OF CONTENTS TABLE OF CONTENTS DOCUMENT STATUS SHEET..................................................................................II TABLE OF CONTENTS...........................................................................................III PREFACE ............................................................................................................... VI CHAPTER 1 INTRODUCTION..................................................................................1 1.1 SCOPE AND APPLICABILITY..........................................................................................................1 1.2 DEFINITIONS, ACRONYMS AND ABBREVIATIONS.....................................................................1 CHAPTER 2 DOCUMENT OVERVIEW ....................................................................3 CHAPTER 3 THIS DOCUMENT AND THE SOFTWARE ENGINEERING STANDARDS ............................................................................................................5
    [Show full text]