Architecture:RPD Server

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Definition of RPD_SERVER data types in BDL

<cpp> struct TLogicalDevice { unsigned long id; // The numerical ID of each device string type; // The logical device type boolean isChainingPoint; // Whether the device can be the base // for other devices. unsigned long idOfBase; // The id of the base device COMMMON::THomogeneousMatrix pose3D; // The 3D pose of this device relative // to the base one. string implementation; // The name of the HAD layer module.

COMMMON::SeqOfParamValuePairs params; // The params for the HAD module. };

typedef sequence<TLogicalDevice> SeqOfLogicalDevices;

</cpp>