.. _component_assembly:

Component Assembly
==================

A **Component Assembly** contains one or more **Components** and or **Component Assemblies**
as well as interfaces used to expose parts of those Components and Component Assemblies
to the external environment.

Shown below are several different Component Assembly models:

----

.. figure:: images/daisy_leg_right_component_assembly_outside.png

   HEBI Daisy Right Leg Physical Component Assembly (Outside)

.. figure:: images/daisy_leg_right_component_assembly.png

   HEBI Daisy Right Leg Physical Component Assembly (Inside)

----

.. figure:: images/daisy_leg_right_behavior_component_assembly_outside.png

   HEBI Daisy Right Leg Physical+Behavior Component Assembly (Outside)

.. figure:: images/daisy_leg_right_behavior_component_assembly.png

   HEBI Daisy Right Leg Physical+Behavior Component Assembly (Inside)

----

.. figure:: images/hebi_hexapod_chassis_component_assembly_outside.png

   HEBI Hexapod Chassis Component Assembly (Outside)

.. figure:: images/hebi_hexapod_chassis_component_assembly.png

   HEBI Hexapod Chassis Component Assembly (Inside)

----

.. figure:: images/daisy_tripod_gait_example_outside.png

   Daisy Tripod Gait Hexapod Design (Outside)

.. figure:: images/daisy_tripod_gait_example.png

   Daisy Tripod Gait Hexapod Design (Inside)


Interfaces
----------

.. toctree::
   :maxdepth: 3

   ../component/component_ports