Table 4 List of available operators, which allow to modify the graph structure
From: A development cycle for automated self-exploration of robot behaviors
Name | Definition | Description |
|---|---|---|
\({create}_{\mathcal {C}}\) | \(\mathcal {D} \times \Sigma \to M_{\mathcal {C}}\) | add a component model to the graph |
\({create}_{\mathcal {I}}\) | \(\mathcal {D} \times \Sigma \to M_{\mathcal {I}}\) | add an interface model to the graph |
\({instantiate}_{\mathcal {C}}\) | \(M_{\mathcal {C}} \times \Sigma \to I_{\mathcal {C}}\) | create a component c from a model m s.t. \(\left (c,m\right) \in \mathcal {I}_{\mathcal {C}}\) |
\({instantiate}_{\mathcal {I}}\) | \(M_{\mathcal {I}} \times \Sigma \to I_{\mathcal {I}}\) | create an interface i from an interface model m s.t. \(\left (i,m\right) \in I_{\mathcal {I}}\) |
isA | \(M_{\mathcal {C}} \times M_{\mathcal {C}} \to S\) | make component model \(x \in M_{\mathcal {C}}\) a subclass of component model y \(M_{\mathcal {C}}\), such that (x,y)∈S |
hasM | \(M_{\mathcal {C}} \times \mathcal {I} \to H\) | associate an interface instance with a component model |
has | \(\mathcal {C} \times \mathcal {I} \to H_{\mathcal {C}}\) | associate an interface instance with a component |
compose | \(\mathcal {C} \times M_{\mathcal {C}} \to P\) | make a component part of a component model |
connect | \(\mathcal {I} \times \mathcal {I} \to C_{o}\) | define a connection between two interface instances |
export | \(\mathcal {I} \times \mathcal {I} \to A\) | define one interface to be an alias for another interface, e.g., to map a component model’s interface to a composing component’s interface |