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======================================================================
  RTComponent: RaspberryPiMouseSimulator specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

  @author Nobuhiko Miyamoto <[email protected]>

  LGPL

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

#   rtc-template -bcxx --module-name=RaspberryPiMouseSimulator 
#   --module-desc='RaspberryPiMouse Simulator' --module-version=1.0.0 --module-vendor=Miyamoto Nobuhiko 
#   --module-category=Simulator --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=sampling_time:double:-1 --config=draw_time:double:0.01 --config=sensor_param:string:1394,792,525,373,299,260,222,181,135,100,81,36,17,16 
#   --inport=target_velocity_in:RTC::TimedVelocity2D --inport=pose_update:RTC::TimedPose2D --outport=current_velocity_out:RTC::TimedVelocity2D --outport=current_pose_out:RTC::TimedPose2D --outport=ir_sensor_out:RTC::TimedShortSeq --outport=ir_sensor_metre_out:RTC::TimedDoubleSeq 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: RaspberryPiMouseSimulator
Description: RaspberryPiMouse Simulator
Version:     1.0.0
Vendor:      Miyamoto Nobuhiko
Category:    Simulator
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:        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:        pose_update
	PortNumber:  1
	Description: 現在位置の更新
	PortType: 
	DataType:    RTC::TimedPose2D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose2D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>

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

	Name:        current_velocity_out
	PortNumber:  0
	Description: 現在の速度
	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_out
	PortNumber:  1
	Description: 現在位置
	PortType: 
	DataType:    RTC::TimedPose2D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose2D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        ir_sensor_out
	PortNumber:  2
	Description: 距離センサの計測値(生データを再現)
	PortType: 
	DataType:    RTC::TimedShortSeq
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedShortSeq
		Number:          4
		Semantics:       
		Unit:            
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        ir_sensor_metre_out
	PortNumber:  3
	Description: 距離センサの計測値
	PortType: 
	DataType:    RTC::TimedDoubleSeq
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedDoubleSeq
		Number:          
		Semantics:       
		Unit:            m
		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:            sampling_time sampling_time
		Description:     シミュレーションの刻み幅
		Type:            double
		DefaultValue:    -1 -1
		Unit:            s
		Range:           
		Constraint:      

		Name:            draw_time draw_time
		Description:     描画の速度
		Type:            double
		DefaultValue:    0.01 0.01
		Unit:            s
		Range:           
		Constraint:      

		Name:            sensor_param sensor_param
		Description:     距離センサのデータを生データに変換するパラメー
		                 タ
		                 0.01、0.02、0.03、0.04、0.05、0.06、0.07、0.0
		                 8、0.09、0.10、0.15、0.20、0.25、0.30[m]に対応
		                 した値を設定
		Type:            string
		DefaultValue:    1394,792,525,373,299,260,222,181,135,100,81,36,17,16 1394,792,525,373,299,260,222,181,135,100,81,36,17,16
		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.