Adding connection to the XML file

Let us suppose that we have createad a component MyComponent as described in previous tutorial.

Also, we suppose that we had added an input called "pose-low-quality" and an output called "pose-high-quality" to our class MyComponent.

Inputs: We will take our input from a component of class LowCostGps named gps which has an output called "pose".

Outputs: We will send our processed pose to another component othercomp of class OtherComponent which has an input called "pose"`.

Warning: Output "pose" in class LowCostGps has the same type as our input "pose-low-quality". Similarly, input "pose" in class OtherComponent has the same type as our output "pose-high-quality".

To add a connection, we will modify the connections node of the XML file. The rest of the file rests unchanged.

<?xml version="1.0" encoding="ISO-8859-1"?>
<pacpus>
    <components>
        <!-- other components -->

        <component name="gps" type="LowCostGps" />
        <component name="mycomp" type="MyComponent" />
        <component name="othercomp" type="OtherComponent" />
    </components>
        
    <connections>
        <!-- other connections -->

        <!-- Getting input from GPS -->
        <connection output="gps.pose" input="mycomp.pose-low-quality" type="direct" />
        <!-- Outputting better pose to another component -->
        <connection output="mycomp.pose-high-quality" input="othercomp.pose" type="direct" />
    </connections>
    
    <!-- Windows (release) -->
    <plugins prefix="" postfix="" extension="dll">
        <plugin lib="MyComponent" />
        <!-- other plugins (libraries) -->
    </plugins>
    
    <parameters>
    </parameters>
</pacpus>