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 simulation
• bin this contains the MORSE simulation’s main entry point
• bindings this contains some Python libraries to access to MORSE data, through the socket middleware
• config this contains support for CMake
• data this contains the Blender model of sensors and actuators
• doc: 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)
• src this contains all the Python scripts used by the simulator; this is the core of the simulator
  • morse/actuators this contains implementations for various robot actuators
  • morse/blender this contains some scripts needed at the initialization of the game engine
  • morse/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 components
  • morse/robots this contains implementations of various robot classes
  • morse/sensors this contains implementations of various robot sensors
• testing this contains unit tests for various parts of MORSE.