RtcProfile
ID	RTC:AIST INVENT:Controller:DriveControl:4.0.0
Version	0.2
BasicInfo
Name	DriveControl
ComponentType	STATIC
ActivityType	PERIODIC
ComponentKind	DataFlowComponent
Category	Controller
Description	DriveControl
ExecutionRate	1000.0
ExecutionType	PeriodicExecutionContext
MaxInstances	10
Vendor	AIST INVENT
Version	4.0.0
CreationDate	2010-03-02T10:57:10.619+09:00
UpdateDate	2010-03-02T13:42:57.008+09:00
language
doc_basic
reference
license	Copyright (c) 2008, National Institute of Advanced Industrial Science and Technology (AIST). All rights reserved. This program is made available under the terms of the Eclipse Public License v1.0 which accompanies this distribution, and is available at http://www.eclipse.org/legal/epl-v10.html
creator	Yusuke Nakajima (y.nakajima@aist.go.jp)
algorithm
inout	[INPUT] (1) current localized position data [OUTPUT] (1) Target Trans/Rot Velocity data (2) Current distance data
description	(1)getting current localized position from LocalizationRTC (2)calculating Target Trans/Rot velocity values for controlling robot's velocity (3)sending target Trans/Rot Velocity data to MotorControlRTC (4)sending distance data between current position and target point to LocalPathPlanningRTC
actions
action_status/doc_action
OnInitialize	implemented	true
	postCondition	none
	preCondition	none
	description	set Configuration parameters
OnFinalize	implemented	false
OnStartup	implemented	false
OnShutdown	implemented	false
OnActivated	implemented	true
	postCondition	none
	preCondition	none
	description	(1) update INPORT's data (2) open files for debugging (3) initialize (4) get robot's parameter
OnDeactivated	implemented	true
	postCondition	none
	preCondition	none
	description	(1)close files for debugging
OnAborting	implemented	false
OnError	implemented	false
OnReset	implemented	false
OnExecute	implemented	true
	postCondition	none
	preCondition	none
	description	(1)getting current localized position from LocalizationRTC (2)calculating Target Trans/Rot velocity values for controlling robot's velocity (3)sending target Trans/Rot Velocity data to MotorControlRTC (4)sending distance data between current position and target point to LocalPathPlanningRTC
OnStateUpdate	implemented	false
OnRateChanged	implemented	false
OnAction	implemented	false
OnModeChanged	implemented	false
configuration/doc_configuration
1	name	TransMaxVelocity
	unit	[m/sec]
	defaultValue	0.5
	type	double
	constraint	none
	range
	unit	[m/sec]
	description	Max trans velocity of center of RobotMax trans velocity of center of Robot
	defaultValue	0.5
	dataname	TransMaxVelocity
2	name	TransMaxAcceleration
	unit	[m/sec^2]
	defaultValue	1.0
	type	double
	constraint	none
	range
	unit	[m/sec^2]
	description	Max trans acceleration of center of Robot
	defaultValue	1.0
	dataname	TransMaxAcceleration
3	name	RotMaxVelocity
	unit	[rad/sec]
	defaultValue	0.7
	type	double
	constraint	none
	range
	unit	[rad/sec]
	description	Max rotation velocity of center of Robot
	defaultValue	0.7
	dataname	RotMaxVelocity
4	name	RotMaxAcceleration
	unit	[rad/sec^2]
	defaultValue	1.0
	type	double
	constraint	none
	range
	unit	[rad/sec^2]
	description	Max rotation acceleration of center of Robot
	defaultValue	1.0
	dataname	RotMaxAcceleration
5	name	velGainByLength
	unit	none
	defaultValue	3.0
	type	double
	constraint	none
	range
	unit	none
	description	The LENGTH element's gain for controlling velocity ([LENGTH] is the distance from Current position to Target path)
	defaultValue	3.0
	dataname	velGainByLength
6	name	velGainByDeltaLength
	unit	none
	defaultValue	30.0
	type	double
	constraint	none
	range
	unit	none
	description	The DELTA LENGTH element's gain for controlling velocity ([LENGTH] is the distance from Current position to Target path)
	defaultValue	30.0
	dataname	velGainByDeltaLength
7	name	velGainByTheta
	unit	none
	defaultValue	1.8
	type	double
	constraint	none
	range
	unit	none
	description	The THETA element's gain for controlling velocity ([THETA] is the differential Angle from Current posture angle to Target path's angle)
	defaultValue	1.8
	dataname	velGainByTheta
8	name	velGainByDeltaTheta
	unit	none
	defaultValue	18.0
	type	double
	constraint	none
	range
	unit	none
	description	The DELTA THETA element's gain for controlling velocity ([THETA] is the differential Angle from Current posture angle to Target path's angle)
	defaultValue	18.0
	dataname	velGainByDeltaTheta
9	name	RotFinBorder
	unit	[rad]
	defaultValue	0.05232
	type	double
	constraint	none
	range
	unit	[rad]
	description	the border of [ROTATION ANGLE] (the value of tolerance margin) 1[deg] = 0.01744[rad]
	defaultValue	0.05232 (=3deg)
	dataname	RotFinBorder
10	name	RotDecBorder
	unit	[rad]
	defaultValue	0.1744
	type	double
	constraint	none
	range
	unit	[rad]
	description	the border of [ROTATION ANGLE] for start decreasing RotVel depend on rest angle
	defaultValue	0.1744 (=10deg)
	dataname	RotDecBorder
11	name	GoalFinBorder
	unit	[m]
	defaultValue	0.05
	type	double
	constraint	none
	range
	unit	[m]
	description	the border value [m] of GOAL (the value of tolerance margin) (this value needs to be less than "Deviatinglen" in LocalPathPlanngRTC)
	defaultValue	0.05
	dataname	GoalFinBorder
12	name	GoalDecBorder
	unit	[m]
	defaultValue	0.5
	type	double
	constraint	none
	range
	unit	[m]
	description	the border value [m] for decreasing velocty
	defaultValue	0.5
	dataname	GoalDecBorder
13	name	ObstacleFinBorder
	unit	[m]
	defaultValue	0.25
	type	double
	constraint	none
	range
	unit	[m]
	description	the border of controlling velocity by Obstacle
	defaultValue	0.25
	dataname	ObstacleFinBorder
14	name	ObstacleDecBorder
	unit	[m]
	defaultValue	3.0
	type	double
	constraint	none
	range
	unit	[m]
	description	the border of controlling velocity by Obstacle
	defaultValue	3.0
	dataname	ObstacleDecBorder
15	name	obstacleWeight
	unit	none
	defaultValue	0.6
	type	double
	constraint	none
	range
	unit	none
	description	The OBSTACLE element's weight for controlling velocity (If Obstacles are close to myself, change Max velocity to multiplied this value.)
	defaultValue	0.6
	dataname	obstacleWeight
16	name	goalWeight
	unit	none
	defaultValue	0.4
	type	double
	constraint	none
	range
	unit	none
	description	The GOAL element's weight for controlling velocity (If GOAL is close to myself, change Max velocity to multiplied this value.)
	defaultValue	0.4
	dataname	goalWeight
17	name	leftWheelID
	unit	none
	defaultValue	0
	type	int
	constraint	none
	range
	unit	none
	description	ID number of left wheel of mobile robot.
	defaultValue	0
	dataname	leftWheelID
18	name	rightWheelID
	unit	none
	defaultValue	1
	type	int
	constraint	none
	range
	unit	none
	description	ID number of right wheel of mobile robot.
	defaultValue	1
	dataname	rightWheelID
19	name	radiusOfLeftWheel
	unit	[m]
	defaultValue	0.1
	type	double
	constraint	none
	range
	unit	[m]
	description	radius of left wheel of mobile robot
	defaultValue	0.1(RefHard2 model)
	dataname	radiusOfLeftWheel
20	name	radiusOfRightWheel
	unit	[m]
	defaultValue	0.1
	type	double
	constraint	none
	range
	unit	[m]
	description	radius of right wheel of mobile robot
	defaultValue	0.1(RefHard2 model)
	dataname	radiusOfRightWheel
21	name	lengthOfAxle
	unit	[m]
	defaultValue	0.441
	type	double
	constraint	none
	range
	unit	[m]
	description	length of axle (from left wheel to right wheel)
	defaultValue	0.441(RefHard2 model)
	dataname	lengthOfAxle
22	name	radiusOfBodyArea
	unit	[m]
	defaultValue	0.45
	type	double
	constraint
	range
	unit	[m]
	description	length of body radius (from center of Axle to corner of Body)
	defaultValue	0.45(RefHard2 model)
	dataname	radiusOfBodyArea
dataports/doc_dataport
1	portType	DataInPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPosition
	position	LEFT
	variableName	LocalizedPosition
	operation
	occerrence
	unit	X,Y data : [m], Angle : [rad], timeStamp: [sec],[nanosec]
	semantics	current Localized Position data (the position of center of robots model) [0]: X data [1]: Y data [2]: posture angle[rad]
	number	4 (x,y, posture angle) , timeStamp:1, error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
2	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedVelocity
	name	TargetVelocity
	position	RIGHT
	variableName	TargetVelocity
	operation
	occerrence
	unit	Trans velocity [m/s], Rot velocity [rad/s], timeStamp: [sec],[nanosec]
	semantics	target Trans/Rot Velocity of robot's center data for PD control [Trans Velocity]: translational velocity of robot's center [m/sec] [Rot Velocity]: rotation velocity (swing velocity) of robot's center [rad/sec]
	number	Trans velocity data:2, Rot velocity data:1, timeStamp:1
	type	Trans/Rot velocity data: double, timeStamp:tm
	description	target Trans/Rot Velocity of robot's center data for PD control
3	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	TimedDouble
	name	DeviantDistance
	position	RIGHT
	variableName	DeviantDistance
	operation
	occerrence
	unit	distance data : [m], timeStamp: [sec],[nanosec]
	semantics	diviant distance from current position to the target point on the PATH [0]: distance ([current position] -- [the point on the palnned PATH])
	number	distance data:1 , timeStamp:1
	type	distance data: double, timeStamp:tm
	description	diviant distance from current position to the target point on the PATH
serviceport/doc_serviceport
1	name	MapBuilderProv
	position	LEFT
	ifdescription	[Provider] (1) for receiving MapData
	description	for MapBuilderRTC
	serviceinterface/doc_serviceinterface
	1	name	MapBuilderDrive
		path	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0
		type	Drive
		idlFile	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0/DriveControlPro.idl
		instanceName	MapBuilderDrive
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	SetMap() MapData : map data (0,1..) MapLengthX : X length of MAP [m] MapLengthY : Y length of MAP [m] GridSizeX : size of X GRID [m] GridSizeY : size of Y GRID [m]
		description	[Provider] (1) for receiving MapData
2	name	MapMaintenanceProv
	position	LEFT
	ifdescription	[Provider] (1) for receiving Map update data (including ObstacleData)
	description	for MapMaintenanceRTC
	serviceinterface/doc_serviceinterface
	1	name	MapMaintenanceDrive
		path	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0
		type	Drive
		idlFile	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0/DriveControlPro.idl
		instanceName	MapMaintenanceDrive
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	MapUpdate() X : array number of X Map grid data Y : array number of Y Map grid data value: Presence of obstacle [0= not exists : 1= exists] num : the number of array data sec : Made time [sec] nsec : Made time
		description	[Provider] (1) for receiving Map update data (including ObstacleData)
3	name	LocalPathProv
	position	LEFT
	ifdescription	[Provider] (1) for receiving LocalPathData
	description	for LocalPathPlanningRTC
	serviceinterface/doc_serviceinterface
	1	name	LocalPathDrive
		path	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0
		type	Drive
		idlFile	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0/DriveControlPro.idl
		instanceName	LocalPathDrive
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	LocalPathCourse() PathX : physical value of X path data PathY : physical value of Y path data num : the number of array data direction : 1=[Ahead] 2=[Back]
		description	[Provider] (1) for receiving LocalPathData
4	name	InventGUIProv
	position	LEFT
	ifdescription	[Provider] (1) for changing MAX parameters (2) for receiving start/finish etc.. commands (3) for receiving start/goal position data (4) for setting SafeMode
	description	for InventGUIRTC
	serviceinterface/doc_serviceinterface
	1	name	InventGUIDrive
		path	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0
		type	Drive
		idlFile	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0/DriveControlPro.idl
		instanceName	InventGUIDrive
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	(1) SetMaxValues() TransMaxV : trans max velocity of robot TransMaxA : trans max acceleration of robot RotMaxV : rotation max velocity of robot RotMaxA : rotation max acceleration of robot (2) SetSafeMode() mode : the number of safe mode (TODO: 0:??, 1:??, 2:??) (3) SetPosition() StartX : Start position X StartY : Start position Y StartAngle : Start Angle GoalX : Goal position X GoalY : Goal position Y GoalAngle : Goal Angle Direction : 1=[Ahead] 2=[Back]
		description	[Provider] (1) for changing MAX parameters (2) for receiving start/finish etc.. commands (3) for receiving start/goal position data (4) for setting SafeMode
5	name	BumpProv
	position	LEFT
	ifdescription	(1) for receiving bump command
	description	for BumpDetectionRTC
	serviceinterface/doc_serviceinterface
	1	name	BumpDrive
		path	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0
		type	Drive
		idlFile	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0/DriveControlPro.idl
		instanceName	BumpDrive
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	void
		description	(1) for receiving bump command
6	name	InventGUICons
	position	LEFT
	ifdescription	[Consumer] (1) for sending information of arriving to Goal.
	description	for InventGUIRTC
	serviceinterface/doc_serviceinterface
	1	name	DriveInventGUI
		path	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0
		type	InventGUI
		idlFile	/tmp/OpenINVENT-4.0.0/DriveControl_ver4.0.0/DriveControlCons.idl
		instanceName	DriveInventGUI
		direction	Required
		docPostCondition
		docPreCondition
		docException
		docReturn	(1)Goal(): void
		docArgument	(1)Goal(): void
		description	[Consumer] (1) for sending information of arriving to Goal.