ITopController

interface ITopController : public IController

TopControllerState ITopController.State { get; }

System.DateTime ITopController.Time { get; set; }

IDictionary<string, IRobot> ITopController.Robots { get; }

IFrame ITopController.WorldFrame { get; }

IAcquisition ITopController.ReserveAcquisition()

ISnapshot ITopController.ReserveSnapshot(SnapshotMode mode)

void ITopController.WaitState(TopControllerState state, double timeout)

ISubscription ITopController.SubscribeStateChange(TopControllerStateChangeHandler handler)

ISubscription ITopController.SubscribeAsynchronousException(AsynchronousExceptionHandler handler, bool includeHistory=false)

void ITopController.Run()

void ITopController.Stop()

IRobot ITopController.CreateRobot(string name)

IRobot ITopController.CreateRobotFromString(string urdf)

IRobot ITopController.CreateRobotFromFile(string filename)

void ITopController.ApplyModel(string xml, ISubController[] subControllers)

void ITopController.ApplyModelFromFile(string filename, ISubController[] subControllers)

KeepAliveSettings ITopController.GetKeepAliveSettings(Endpoint endpoint)

void ITopController.SetKeepAliveSettings(Endpoint endpoint, KeepAliveSettings settings)