ARIA is an API (Application Programming Interface), designed and written entirely in the OO paradigm.  ARIA communicates with the robot via a client/server relationship, either using a serial connection (to talk to the robot) or a TCP/IP connection (to talk to a simulator).

ARIA is flexible. For example it can be run multi-threaded or as a single-thread.  It can be used as a complete API or at the level of your choice. Typically, developers use ARIA's high level controls in "actions" (also sometimes called "behaviors" or "behavioral actions") to read sensors and drive the robot. ARIA can also be used to read sensors and drive the robot with custom actions; to merely send and receive commands; or simply to control the serial port.

ARIA does threading via its own wrapper around linux pthreads and Win32 threads.  ARIA has reference documentation generated via auto documentation in the code itself.

The built-in actions of ARIA are all resolved strictly based on priority, but the default action resolver is highly flexible, so that a system using straight summation could be easily implemented with your own actions.  This is but one of the many different strategies the resolver should be able to accommodate.

• Dynamically controls velocity, heading, relative heading, etc.
• Integrates user I/O bus, gripper, pan-tilt, bumpers, and other accessories
• Polls all range devices with a single function
• Highly flexible
• Cross platform (Linux and Win32)
• Complete reference documentation
• Built-in threading system intended for multithreaded applications
• Built-in socket layer eases inter-program communication via network
• Built-in actions for obstacle avoidance
• Eases implementation of custom actions
• Maintain sonar history and gain sonar readings in a region (box or polar)
• Utility code eases tasks such as built in time class, a class of math operations, and a position class, all with many built in  functions for doing common operations 
• Includes many examples illustrating ARIA features and applications
• Designed to be a solid base for large-scale applications
• High-quality professional code, designed before implementation



Compiler Requirements