Plugins

As much “external” functionality as possible is implemented through plugins. These provide an orthogonal, horizontal extension of the Cloe system. Only two of these plugins are built-in to Cloe itself, the nop simulator and nop controller.

Simulator Bindings

Each simulation requires at least one simulator binding. The following simulator bindings are supplied by Cloe. However, to make use of the VTD or any other external simulator bindings, you will need to have a licensed installation of these simulators.

• Nop Simulator
• Minimator Simulator
• ESMini Simulator
• VTD Simulator Binding

Controller Plugins

Each simulation may have one or more controllers connected to vehicles supplied by the simulator binding. The following controllers are supplied by Cloe and have no prerequisites for their use.

• Nop Controller
• Demo-Printer Controller
• Demo-Stuck Controller
• Groundtruth Extractor
• Basic Controller
• Virtue Controller

Component Plugins

A vehicle in a simulation is provided by a simulator binding, but can be further modified using component plugins. The following components are supplied by Cloe and have no prerequisites for their use.

• Noisy-Object-Sensor Component
• Noisy-Lane-Sensor Component
• Speedometer Component