posh is a modular shell. It uses separate processes to perform the different functions of the shell. The core of posh is the main shell program named 'posh'. This program simply reads command lines one after the other and prints a prompt. Commands are executed one after the other, until an empty command is encountered. A command is just a list of strings. posh has a special syntax for parsing lists of strings. It would be best to give an example: the input asdf jkl; (abc def) (foo (bar)) is parsed as the four strings: "asdf" "jkl;" "abc def" "foo (bar)" The point of the grouped parentheses is to escape the spaces passed as part of the command list of a sub-command. Let me explain that. Like bash, the first string in the command is used as the name of the program to execute. The following strings in the command are passed as arguments. Most posh processes expect one of their arguments to be an entire command. This enables each process to do something to its execution environment, like duplicate a file descriptor, then start up a child process by interpreting that command argument. Here is a list of the available processes: posh This is the main shell program. It expects no arguments. dup Usage: dup source dest command dup redirects I/O by calling dup2(), so that the file descriptor dest refers to the same file descriptor to which source refers. The following example prints "Hello, world!" on stderr: dup 2 1 (echo Hello, world!) read Usage: read file fd command read opens a file for reading on the given file descriptor. The common use is to open a file for reading on stdin. Example: read file 0 cat write Usage: write file fd command write opens (or creates) a file for writing on the given file descriptor. Example: write file 1 (echo Hello, world!) pipe Usage: pipe writePipe readPipe writeCommand readCommand pipe creates a pipe between two processes. One process gets the write end of the pipe, and the other process gets the read end. By assigning the read end to file descriptor 0 and the write end to file descriptor 1, we can mimic the behavior of pipes in bash. The following example prints "Hello, world!" on stderr: dup 2 1 (pipe 1 0 (echo Hello, world!) cat) setenv Usage: setenv variable value command setenv sets an environment variable in the child process. unsetenv Usage: unsetenv variable command unsetenv removes the value of an environment variable in the child process. clearenv Usage: clearenv command clearenv clears the entire environment for the child process. seq Usage: seq (commands) This process executes each of its arguments as a command, in order. Example: seq (echo Hello,) (echo world!) sub Think of sub as a minimal subshell. Its purpose is to allow for command substitution. The following example is equivalent to 'ls `pwd`' in bash: pipe 1 0 (seq (concat (ls )) pwd) sub sub simply runs one command line from stdin without printing any prompt. The concat program is provided for convenience. Compiling: To compile the posh suite, simply run make. You will want to put the posh/bin directory in your PATH, otherwise all posh programs have to be referred to by prefixing them with './'.
The Modular and Robust State-Estimation Framework, or short, MaRS, is a recursive filtering framework that allows for truly modular multi-sensor integration. The framework further enables the handling of multiple sensors dynamically and performs self-calibration if auxiliary states are defined for the respective sensor module.