======================================================================
RTComponent: SimplePathFollower specificatioin
OpenRTM-aist-1.0.0
Date: $Date$
This file is generated by rtc-template with the following argments.
# rtc-template -bcxx --module-name=SimplePathFollower
# --module-desc='Simple Algorithm Path Follower' --module-version=1.0.0 --module-vendor=Sugar Sweet Robotics
# --module-category=Navigation --module-comp-type=STATIC
# --module-act-type=PERIODIC --module-max-inst=1
# --config=debug:int:0 --config=poseTimeout:float:3.0 --config=approachDirectionGain:float:1.0 --config=directionToTranslationGain:float:0.0 --config=directionToRotationGain:float:0.0 --config=minVelocity:float:0.2 --config=distanceToTranslationGain:float:0.0 --config=approachDistanceGain:float:0.5 --config=maxVelocity:float:0.8 --config=distanceToRotationGain:float:2.0 --config=maxRotationVelocity:float:2.0 --config=minRotationVelocity:float:0.5
# --inport=currentPose:RTC::TimedPose2D --outport=velocity:RTC::TimedVelocity2D
# --service-idl=C:\A\SimplePathFollower\idl\MobileRobot.idl
# --service=PathFollower:PathFollower:RTC::PathFollower
======================================================================
Basic Information
======================================================================
# <rtc-template block="module">
Module Name: SimplePathFollower
Description: Simple Algorithm Path Follower
Version: 1.0.0
Vendor: Sugar Sweet Robotics
Category: Navigation
Kind: DataFlowComponent
Comp. Type: STATIC
Act. Type: PERIODIC
MAX Inst.: 1
Lang: C++
Lang Type:
# </rtc-template>
======================================================================
Activity definition
======================================================================
[on_initialize] implemented
[on_finalize]
[on_startup]
[on_shutdown]
[on_activated] implemented
[on_deactivated] implemented
[on_execute] implemented
[on_aborting]
[on_error]
[on_reset]
[on_state_update]
[on_rate_changed]
======================================================================
InPorts definition
======================================================================
# <rtc-template block="inport">
Name: currentPose
PortNumber: 0
Description:
PortType:
DataType: RTC::TimedPose2D
MaxOut:
[Data Elements]
Name:
Type:
Number:
Semantics:
Unit:
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
# </rtc-template>
======================================================================
OutPorts definition
======================================================================
# <rtc-template block="outport">
Name: velocity
PortNumber: 0
Description:
PortType:
DataType: RTC::TimedVelocity2D
MaxOut:
[Data Elements]
Name:
Type:
Number:
Semantics:
Unit:
Frequency:
Operation Cycle:
RangeLow:
RangeHigh:
DefaultValue:
# </rtc-template>
======================================================================
Service Port definition
======================================================================
# <rtc-template block="serviceport">
PortName: PathFollower
Description:
Interface:
[Service Provider Interfaces]
Name: PathFollower
Type: RTC::PathFollower
Description:
Argument:
Return Value:
Exception:
PreCondition:
PostCondition:
# </rtc-template>
======================================================================
Configuration definition
======================================================================
# <rtc-template block="configuration">
Configuration:
Name: debug
Description:
Type: int
DefaultValue: 0
Unit:
Range:
Constraint:
Name: poseTimeout
Description:
Type: float
DefaultValue: 3.0
Unit:
Range:
Constraint:
Name: approachDirectionGain
Description:
Type: float
DefaultValue: 1.0
Unit:
Range:
Constraint:
Name: directionToTranslationGain
Description:
Type: float
DefaultValue: 0.0
Unit:
Range:
Constraint:
Name: directionToRotationGain
Description:
Type: float
DefaultValue: 0.0
Unit:
Range:
Constraint:
Name: minVelocity
Description:
Type: float
DefaultValue: 0.2
Unit:
Range:
Constraint:
Name: distanceToTranslationGain
Description:
Type: float
DefaultValue: 0.0
Unit:
Range:
Constraint:
Name: approachDistanceGain
Description:
Type: float
DefaultValue: 0.5
Unit:
Range:
Constraint:
Name: maxVelocity
Description:
Type: float
DefaultValue: 0.8
Unit:
Range:
Constraint:
Name: distanceToRotationGain
Description:
Type: float
DefaultValue: 2.0
Unit:
Range:
Constraint:
Name: maxRotationVelocity
Description:
Type: float
DefaultValue: 2.0
Unit:
Range:
Constraint:
Name: minRotationVelocity
Description:
Type: float
DefaultValue: 0.5
Unit:
Range:
Constraint:
# </rtc-template>
This software is developed at the National Institute of Advanced
Industrial Science and Technology. Approval number H23PRO-????. This
software is licensed under the Lesser General Public License. See
COPYING.LESSER.
This area is reserved for future OpenRTM.