{{Infobox software , name = anyKode Marilou , screenshot = Mariloueditor320.jpg , caption = Marilou IDE screenshot , developer = anyKode , latest release version = anyKode Marilou 2010 , latest release date = February 2013 , operating_system =

Windows Windows is a Product lining, product line of Proprietary software, proprietary graphical user interface, graphical operating systems developed and marketed by Microsoft. It is grouped into families and subfamilies that cater to particular sec ...

for the Physics editor. Windows,

Ubuntu Ubuntu ( ) is a Linux distribution based on Debian and composed primarily of free and open-source software. Developed by the British company Canonical (company), Canonical and a community of contributors under a Meritocracy, meritocratic gover ...

and

Mint Mint or The Mint may refer to: Plants * Lamiaceae, the mint family ** ''Mentha'', the genus of plants commonly known as "mint" Coins and collectibles * Mint (facility), a facility for manufacturing coins * Mint condition, a state of like-new ...

for the simulation part. , genre =

Robotics suite A robotics suite is a visual environment for robot control and simulation. They are typically an end-to-end platform for robotics development and include tools for visual programming and creating and debugging robot applications. Developers can ...

, license =

Trialware Shareware is a type of proprietary software that is initially shared by the owner for trial use at little or no cost. Often the software has limited functionality or incomplete documentation until the user sends payment to the software developer. ...

, website = {{URL, http://www.anykode.com anyKode Marilou is a modeling and

simulation A simulation is an imitative representation of a process or system that could exist in the real world. In this broad sense, simulation can often be used interchangeably with model. Sometimes a clear distinction between the two terms is made, in ...

environment for mobile robots, humanoids, articulated arms and parallel robots operating in real-world conditions that respect the laws of physics. This robotics suite is used in research centers and industry for various projects like humanoid architectures, wheeled and multi legged vehicles, and multi-robot systems (Multi-agents). It also has a real-time engine that uses the ODE (

Open Dynamics Engine The Open Dynamics Engine (ODE) is a physics engine written in C/C++. Its two main components are a rigid body dynamics simulation engine and a collision detection engine. It is free software licensed both under the BSD license and the LGPL. OD ...

) for collisions detecting and dynamics management. Various 'real world' variables like forces, torques, masses, damping, friction and others can be adjusted directly to the objects surfaces.

Scenes modeling

The entities' editor can design the robot's collision model by using any of the static or dynamic objects in the given simulated world.

CAD Computer-aided design (CAD) is the use of computers (or ) to aid in the creation, modification, analysis, or optimization of a design. This software is used to increase the productivity of the designer, improve the quality of design, improve c ...

-style editing tools are entirely graphical. Scenes, dynamics, and robots properties can be changed from a view/document/properties IHM style. Also, the editor takes in charge re-usable physicals entities as well as pure 3D models. Marilou uses a hierarchical system to present entire objects at the highest level (the current world). This approach makes it possible to reuse members of a complex object as sub-parts of another object.

Key features

* Graphical handling of robots and environments models (physics parts and 3D models) * Modeling helpers, Refactoring tools, several documents and viewpoints * Rigid bodies, n-axis constraints and springs * Mechanical constraints * Surface properties (reflection, shock, friction, incidence, rebound, behavior with infra-red or ultrasound …) * Hierarchy and complex assemblies * Real-time or accelerated simulations (RT-Multiplier) * Multi-robots, multiple embedded applications, centralized or distributed * Acquisition/measurement cycles as low as 1 ms * Interactions with running

* 3D rendering using pixel and

vertex shader In computer graphics, a shader is a computer program that calculates the appropriate levels of light, darkness, and color during the rendering of a 3D scene—a process known as '' shading''. Shaders have evolved to perform a variety of s ...

s * Spot, Point, Ambient and Directional lights * Dynamic shadowing * Physics Editor for Windows, Exec (the simulator) for Windows, Ubuntu, and Mint (BETA)

Devices

Marilou includes a complete set of user-modifiable virtual devices. The behavior of these devices may be overridden by the properties of real devices available in robotics. This feature allows the programmer to use a known device's parameters directly. This is a list of supported devices types: * Embedded robotic components * Absolute Compass * Actuating cylinders / jack *

Accelerometers An accelerometer is a device that measures the proper acceleration of an object. Proper acceleration is the acceleration (the rate of change of velocity) of the object relative to an observer who is in free fall (that is, relative to an inertia ...

/Gyro-meters/

Gyroscope A gyroscope (from Ancient Greek γῦρος ''gŷros'', "round" and σκοπέω ''skopéō'', "to look") is a device used for measuring or maintaining Orientation (geometry), orientation and angular velocity. It is a spinning wheel or disc in ...

* Air pressure forces *

Bumper Bumper or Bumpers may refer to: People * Betty Bumpers (1925-2018), American activist, First Lady of Arkansas, wife of Dale Bumpers * Dale Bumpers (1925–2016), American politician, governor of Arkansas and senator * Bumper Robinson (born 1974) ...

s * Distance sensors (Ultrasonic, Infra Red and Laser) *

Motors An engine or motor is a machine designed to convert one or more forms of energy into mechanical energy. Available energy sources include potential energy (e.g. energy of the Earth's gravitational field as exploited in hydroelectric power gene ...

and servo motors * Emitters and receivers * Force and Torque sensors * GPS *

Laser A laser is a device that emits light through a process of optical amplification based on the stimulated emission of electromagnetic radiation. The word ''laser'' originated as an acronym for light amplification by stimulated emission of radi ...

range finders * LED *

LCD A liquid-crystal display (LCD) is a flat-panel display or other electronically modulated optical device that uses the light-modulating properties of liquid crystals combined with polarizers to display information. Liquid crystals do not em ...

display * Light Sources *

Lidar Lidar (, also LIDAR, an acronym of "light detection and ranging" or "laser imaging, detection, and ranging") is a method for determining ranging, ranges by targeting an object or a surface with a laser and measuring the time for the reflected li ...

(3D-Scanner) *

Odometer An odometer or odograph is an instrument used for measuring the distance traveled by a vehicle, such as a bicycle or car. The device may be electronic, mechanical, or a combination of the two (electromechanical). The noun derives from ancient Gr ...

s * Standard and panoramic spherical Cameras (

Panoramic camera Panoramic photography is a technique of photography, using specialized equipment or software, that captures images with horizontally elongated field of view, fields of view. It is sometimes known as ''wide format photography''. The term has also ...

) * Touch area

Robots programming

MODA (Marilou Open Devices Access) is the Marilou generic SDK for handling simulated robots and their embedded devices, such as sensors and actuators. Depending on chosen language, MODA provides libraries (.lib /.a) or .Net assembly (.dll) for accessing simulation over the network. Synchronized to a simulated clock, algorithms can run on any computer in the network. Individual robots may run several programs. In addition, one MODA program can control numerous robots, whether they be in the same world. MODA TCP server can be embedded in real robot. * Languages: C /

C++ C++ (, pronounced "C plus plus" and sometimes abbreviated as CPP or CXX) is a high-level, general-purpose programming language created by Danish computer scientist Bjarne Stroustrup. First released in 1985 as an extension of the C programmin ...

C++ CLI C, or c, is the third letter of the Latin alphabet, used in the modern English alphabet, the alphabets of other western European languages and others worldwide. Its name in English is ''cee'' (pronounced ), plural ''cees''. History "C ...

, C#, J#, VB# * Compilers: Microsoft

Visual Studio Visual Studio is an integrated development environment (IDE) developed by Microsoft. It is used to develop computer programs including web site, websites, web apps, web services and mobile apps. Visual Studio uses Microsoft software development ...

suites, DevC++,

Borland Borland Software Corporation was a computing technology company founded in 1983 by Niels Jensen, Ole Henriksen, Mogens Glad, and Philippe Kahn. Its main business was developing and selling software development and software deployment products. B ...

C++ RAD Studio, G++ for Linux, CodeBlocks * MODA is open-source and compatible with Linux (Mac coming soon)

References

Biomedical / Simulation

* ttp://cat.inist.fr/?aModele=afficheN&cpsidt=22217650 Brain Computer Interface (French)
Command of a simulated wheelchair on a virtual environment

Programming a virtual robot with RT-Maps
Robotics simulation software

Scenes modeling

Key features

Devices

Robots programming

See also

References