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Saphira Software Manual maps 67 multiprocessing 57 Occupancy functions 61. See occupancy packet functions 82. See packet functions Path 3 processes 52, 57, 58. See Saphira processes See Intentions PRS-lite Quick start 3 Representation of space 10 Robots 1 Servers 41 vision 85 Saphira behaviors 69 Saphira colors 67 SAPHIRA environment variable 3, 27, 30, 31, 82 saphira example client 35 Saphira maps 67 Saphira processes 52 52, 53 sfInitControlProcs 53 sfInitInterpretationProcs 53 sfInitRegistrationProcs 53 Saphira vision 85 saphira.c 27 Saphira: Local Perceptual Space (LPS) 10 See Customer resources saphira-users save map 16 search_and_go_blob 86 sensor interpretation 53, 66 Sensor interpretation routines 11 Server Information packet 45 Server information packet 45 SERVER_NAME 12 Servers 41 autoconfiguration 47 Pioneer Server Operating System 41 ports 47. See ports position integration 49 sfCOMCLOSE 48 sfCOMDHEAD 48 sfCOMOPEN 48 sfCOMPOLLING 50 sfCOMPULSE 48 sfCOMSETO 48 sfCOMSYNC 47 sfCOMVEL 48 shut down 47 sonars 50 start up 47 set_vector_buffer 67 setup_vision_system 86 sfAdd2Angle 65 sfAddAngle 65 sfAddPoint 65 sfAddPointCheck 65 sfAttendAtPos sfAvoidCollision sfBehaviorControl sfBehaviorOff sfBehaviorOn sfButtonProcFn sfChangeVP sfClientBytes sfCOMCLOSE sfCOMDHEAD sfCOMOPEN sfCOMPOLLING sfCOMPULSE sfCOMRVEL sfCOMSETO sfCOMSYNC sfCOMVEL sfCOMVEL2 sfConnectToRobot sfConstantVelocity sfCreateGlobalPoint sfCreateLocalPoint sfDisconnectFromRobot sfDoneHeading sfDonePosition sfDrawCenteredRect sfDrawRect sfErrMessage sfErrSMessage sfFindArtifact sfFindBehavior sfFindProcess sfFollow sfFollowCorridor sfFollowDoor sfFrontMaxRange sfGlobalOrigin sfGoToPos sfHaveClientPacket 52, 53 sfInitBehavior sfInitBehaviorDup sfInitControlProcs sfInitIntention sfInitInterpretationProcs sfInitProcess sfInitRegistrationProcs sfInterruptProcess sfInterruptSelf sfIsConnected sfKeepOff sfKeyProcFn sfKillBehavior sfLeftWallHyp sfLoadMapFile sfMessage 76 74 70 74 74 52 66 83 48 48 48 50 48 48 48 47 48 48 82 74 64 64 83 56 56 67 67 52 52 65 74 58 76 77 77 61 65 76 83 73 73 53 81 53 58 53 58 58 51 75 52 74 66 68 52 99
