= Protocols And Data Structures = If you develop (or discover ;) ) a protocol (e.g. inter-robot communication, robot control etc.) or a data structure (e.g. world model information, actuator position list) please give details here. * RoboCommanderProtocol : this is protocol between client.c and RoboCommander. * ClientDogProtocol : this is protocol between client.c and the dog. (see Wireless.cc on how it is sent, and client.cc on how it is received). Note that it includes multiplexed streams for some of the other protocols below (CPlane, !WorldModel) * RobolinkProtocol : Robolink is intended to replace client as the communication gateway between the base and the dog. It includes a universal log file * AperiosObjectProtocol : this is the messages passed among Actuator, Vision, Wireless. (understand OPENR tutorial, and cfg/connect.cfg for the entries, then you can find appropriate functions/callbacks in the source) * ActuatorDebugData : * this is data sent from actuator for debugging purposes, see !ActionPro.cc or Wireless.cc. * Kim had an older version in that is received by Python !JointDebugger. * Will had a newer one that is more accurate that is received in client.cc. * [wiki:YUVPlaneFormat YUV Plane Format] : the YUV image captured by the camera * [wiki:CPlaneProtocol CPlane Protocol] : this is how CPlane is currently compressed and sent * [wiki:BflFileFormat BFL File Format] : the image format used for color classification * WorldModelProtocol. * TeamTalk protocol. How the behaviours coordinate between dogs