======================================================================
  RTComponent: ControlEducatorVehicle specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

  @author 宮本　信彦　n-miyamoto@aist.go.jp
   産業技術総合研究所　ロボットイノベーション研究センター
   ロボットソフトウエアプラットフォーム研究チーム

  LGPL

  This file is generated by rtc-template with the following argments.

#   rtc-template -bcxx --module-name=ControlEducatorVehicle 
#   --module-desc='Control Educator Vehicle' --module-version=1.0.0 --module-vendor=AIST 
#   --module-category=Controller --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=sensor_height:double:0.20 --config=back_speed:double:0.1 --config=back_time:double:1.0 --config=rotate_speed:double:0.8 --config=rotate_time:double:2.0 --config=medium_motor_range:double:1.6 --config=medium_motor_speed:double:0.6 
#   --inport=target_velocity_in:RTC::TimedVelocity2D --inport=current_pose:RTC::TimedPose2D --inport=ultrasonic:RTC::RangeData --inport=touch:RTC::TimedBooleanSeq --inport=light_reflect:RTC::TimedDouble --outport=target_velocity_out:RTC::TimedVelocity2D --outport=angle:RTC::TimedDouble 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: ControlEducatorVehicle
Description: Control Educator Vehicle
Version:     1.0.0
Vendor:      AIST
Category:    Controller
Kind:        DataFlowComponent
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

Overview:    EV3のEducator
             Vehicleで障害物の回避、滑落の回避をするためのRTCです。
# </rtc-template>


======================================================================
    Activity definition
======================================================================

[on_initialize]    implemented

[on_finalize]      implemented

[on_startup]       implemented

[on_shutdown]      implemented

[on_activated]     implemented

[on_deactivated]   implemented

[on_execute]       implemented

[on_aborting]      implemented

[on_error]         implemented

[on_reset]         implemented

[on_state_update]  implemented

[on_rate_changed]  implemented

======================================================================
    InPorts definition
======================================================================
# <rtc-template block="inport">

	Name:        target_velocity_in
	PortNumber:  0
	Description: 目標速度
	PortType: 
	DataType:    RTC::TimedVelocity2D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedVelocity2D
		Number:          
		Semantics:       
		Unit:            m/s, rad/s
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        current_pose
	PortNumber:  1
	Description: 現在の位置・姿勢（角度） (x, y, θ)
	PortType: 
	DataType:    RTC::TimedPose2D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose2D
		Number:          
		Semantics:       
		Unit:            m、rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        ultrasonic
	PortNumber:  2
	Description: 超音波センサをレンジセンサと仮定し、要素1の距離デー
	             タを格納
	PortType: 
	DataType:    RTC::RangeData
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::RangeData
		Number:          
		Semantics:       
		Unit:            m
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        touch
	PortNumber:  3
	Description: タッチセンサの値をBoolean[2] で出力
	             0番目が右で1番目が左
	PortType: 
	DataType:    RTC::TimedBooleanSeq
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedBooleanSeq
		Number:          2
		Semantics:       
		Unit:            
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        light_reflect
	PortNumber:  4
	Description: 反射光の強さ
	PortType: 
	DataType:    RTC::TimedDouble
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedDouble
		Number:          
		Semantics:       
		Unit:            
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>

======================================================================
    OutPorts definition
======================================================================
# <rtc-template block="outport">

	Name:        target_velocity_out
	PortNumber:  0
	Description: 補正後の目標速度
	PortType: 
	DataType:    RTC::TimedVelocity2D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedVelocity2D
		Number:          
		Semantics:       
		Unit:            m/s, rad/s
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        angle
	PortNumber:  1
	Description: モーターMの角度
	PortType: 
	DataType:    RTC::TimedDouble
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedDouble
		Number:          
		Semantics:       
		Unit:            rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>


======================================================================
    Service Port definition
======================================================================
# <rtc-template block="serviceport">
# </rtc-template> 

======================================================================
    Configuration definition
======================================================================
# <rtc-template block="configuration">
	Configuration:
		Name:            sensor_height sensor_height
		Description:     走行できる地面があると判定する超音波センサの計
		                 測値
		Type:            double
		DefaultValue:    0.20 0.20
		Unit:            m
		Range:           
		Constraint:      

		Name:            back_speed back_speed
		Description:     後退運動をする速さ
		Type:            double
		DefaultValue:    0.1 0.1
		Unit:            m/s
		Range:           
		Constraint:      

		Name:            back_time back_time
		Description:     後退運動する時間
		Type:            double
		DefaultValue:    0.5 1.0
		Unit:            s
		Range:           
		Constraint:      

		Name:            rotate_speed rotate_speed
		Description:     回転運動する速さ
		Type:            double
		DefaultValue:    1.6 0.8
		Unit:            
		Range:           
		Constraint:      

		Name:            rotate_time rotate_time
		Description:     回転運動する時間
		Type:            double
		DefaultValue:    0.5 2.0
		Unit:            s
		Range:           
		Constraint:      

		Name:            medium_motor_range medium_motor_range
		Description:     Mモーターの動作範囲
		Type:            double
		DefaultValue:    1.0 1.6
		Unit:            rad
		Range:           
		Constraint:      0 < x < 3.14

		Name:            medium_motor_speed medium_motor_speed
		Description:     Mモーターの速度
		Type:            double
		DefaultValue:    0.6 0.6
		Unit:            rad/s
		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.