简单介绍Player的configure文件

1、对实物机器人的Configure  .cfg文件

通过Player控制机器人的时候首先应该要做的就是要告诉Player机器人上到底有什么硬件资源需要进行控制。

configure (.cfg)文件就是用来通知Player的：它的内容决定了Player的控制对象。

就好比这样一个函数：y=f(x)

这里的y是Player ，属于软件；x是需要控制的硬件；用来反映它们之间关系的映射f，就是configure文件。

Configure的语法结构基于Player的三个核心概念，即接口，驱动，和设备

There are 3 key concepts in Player[1]:

• interface : A specification of how to interact with a certain class of robotic sensor, actuator, or algorithm. The interface defines the syntax and semantics of all messages that can be exchanged with entities in the same class.

• driver : A piece of software (usually written in C++) that talks to a robotic sensor, actuator, or algorithm, and translates its inputs and outputs to conform to one or more interfaces. The driver's job is hide the specifics of any given entity by making it appear to be the same as any other entity in its class.

• device : A driver bound to an interface, and given a fully-qualified address. All messaging in Player occurs among devices, via interfaces. The drivers, while doing most of the work, are never accessed directly.

用一句话概括它们之间的关系：driver把得到的数据映射到绑定在其上的相应的device interface。