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TRS Explained Part 3

The Trossen Robotics Object Model
(TROM)
   
 





The TROM is essentially what it's name implies, it is a robotics object model for use by programmers to organize and store their robotic data. It is an extremely flexible object model which can represent virtually any robot imaginable while remaining very basic in it's structure.

Some of the kinds of data the TROM is designed to handle are:

- live data, such as your current motor states, joint positions, and sensor readings, etc.

- static data such as controller serial #'s, default motor positions, joint limitations, etc.

- the structural dimensions of your robot. These dimensions refer to the actual skeleton of your robot, the moving and non-moving parts that define your robot's movement.

- the rendering information for your robot. The "skin" of your robot around the skeleton.

The TROM comes with built in functionality for exporting and importing your models to XML. These XML files are most commonly used as configuration files read in at runtime to create a live instance of your robot as an object in memory.



The TROM acts as a home base for everything going on in a robotics application. All the other pieces of the application are in constant interaction with the TROM either storing or retrieving data from it. Creating an instance of the robot using the TROM makes life much easier since we can now simply allow other tools to monitor the robot object for changes on their own.

We will take a closer look at how other parts of the Trossen Robotics System interact with the TROM in the next few sections.