As mentioned before, this compiler generates C++ code which is integrated with the CI system to check the constraint or apply the update rule. Each variable in the input to the compiler corresponds to one design parameter. For example, ``link1_length'' corresponds to the variable in the CI system that represents the length of link number one in the robot configuration. The code generator uses a lookup table to find the corresponding variable name, and this table is part of the CI database.
To update the constraints or the update rules the file containing the old definition will be displayed and the user can add, delete, or update any of the old definitions. Then the new file will be compiled and integrated with the system.