Understanding Morse’s code organisation¶
The Morse source code is organised in the following way :
addons
this contains various addons for Blender, useful for MORSE simulationbin
this contains the MORSE simulation’s main entry pointbindings
this contains some Python libraries to access to MORSE data, through the socket middlewareconfig
this contains support for CMakedata
this contains the Blender model of sensors and actuatorsdoc
: the documentation (in reStructuredText format)examples
this contains examples about :- how to control the simulator (in
clients
) - more or less elaborate test scenarios (in
scenarii
)
- how to control the simulator (in
src
this contains all the Python scripts used by the simulator; this is the core of the simulatormorse/actuators
this contains implementations for various robot actuatorsmorse/blender
this contains some scripts needed at the initialization of the game enginemorse/builder
this contains the scripts for the API that permits creating a simulation scenario from a Python file. See the Builder API documentation.morse/core
this contains core classes for the MORSE project (services, base objects, sensors, etc.)morse/helpers
this contains various helper functions (e.g., math transformation)morse/middleware
this contains the code for linking with different middlewares, both for service or datastream. Each middleware has a separate directory.morse/modifiers
this contains implementations for various modifiers to basic componentsmorse/robots
this contains implementations of various robot classesmorse/sensors
this contains implementations of various robot sensors
testing
this contains unit tests for various parts of MORSE.