UObject Component Architecture
The UObject component architecture allows developers to interface any Java/C++ object within Urbi, making selected methods and attributes visible in urbiscript, while in fact being compiled code. Special notifiers can be set on any of the object's attributes to notify the C++ side of any change on these attributes on the urbiscript/Urbi side.
UObject uses C++ templates to transparently map any requested method to an interface machinery that takes care of the type checking.
A UObject can be used in plugged mode if it is directly linked to Urbi at compile time or with dynamic loading. In that case, the C++ object shares the Urbi memory directly, resulting in efficient integration. This is typically used for time critical components like motor or sensor drivers. The same UObject can also be used without modifications as a remote component. In that case, it will become an autonomous program to be executed with the IP address of the Urbi server as a parameter. In both cases, the object will transparently appear in urbiscript as a native urbiscript object.
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