RtcProfile
ID	RTC:AIST INVENT:Planner:GlobalPathPlanning:4.0.0
Version	0.2
BasicInfo
Name	GlobalPathPlanning
ComponentType	STATIC
ActivityType	PERIODIC
ComponentKind	DataFlowComponent
Category	Planner
Description	Global route making
ExecutionRate	1000.0
ExecutionType	PeriodicExecutionContext
MaxInstances	10
Vendor	AIST INVENT
Version	4.0.0
CreationDate	2010-03-02T10:57:10.619+09:00
UpdateDate	2010-03-02T13:37:51.351+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	N.Takekawa (takekawa-777@aist.go.jp)
algorithm	The route is made from 2D Map
inout	IN : Grid Map, Route making information OUT : Grid Path Data
description	The grid route is made.
actions
action_status/doc_action
OnInitialize	implemented	true
	postCondition	none
	preCondition	none
	description	Initialization of configuration parameter
OnFinalize	implemented	false
OnStartup	implemented	false
OnShutdown	implemented	false
OnActivated	implemented	true
	postCondition	none
	preCondition	none
	description	Debugging file open Initialization of each variable
OnDeactivated	implemented	true
	postCondition	none
	preCondition	none
	description	Debugging file close
OnAborting	implemented	false
OnError	implemented	false
OnReset	implemented	false
OnExecute	implemented	true
	postCondition	none
	preCondition	none
	description	Making of route
OnStateUpdate	implemented	false
OnRateChanged	implemented	false
OnAction	implemented	false
OnModeChanged	implemented	false
configuration/doc_configuration
1	name	dmin
	unit	[m]
	defaultValue	0.5
	type	double
	constraint	Reflected timing ( Always )
	range	Appropriate range
	unit	[m]
	description	Distance that can approach obstacle(Radius Meter)
	defaultValue	0.5
	dataname	dmin
2	name	PostureConsiderationLevel
	unit	[%]
	defaultValue	85.0
	type	double
	constraint	Reflected timing ( Always )
	range	0-100
	unit	[%]
	description	Percentage in which posture is considered
	defaultValue	85.0
	dataname	PostureConsiderationLevel
3	name	NotPostureDistance
	unit	[m]
	defaultValue	1.0
	type	double
	constraint	Reflected timing ( Always )
	range	Appropriate range
	unit	[m]
	description	Distance from goal where posture is not considered
	defaultValue	1.0
	dataname	NotPostureDistance
serviceport/doc_serviceport
1	name	InventGUIProv
	position	LEFT
	ifdescription	The start goal position and the relay position are obtained
	description	The parameter that makes the route is obtained
	serviceinterface/doc_serviceinterface
	1	name	InventGUIGlobalPath
		path	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0
		type	GlobalPath
		idlFile	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0/GlobalPathPlanningPro.idl
		instanceName	InventGUIGlobalPath
		direction	Provided
		docPostCondition	NA
		docPreCondition	NA
		docException	NA
		docReturn	void
		docArgument	SetStart() SetRelay()
		description	The parameter that makes the route is obtained
2	name	MapBuilderProv
	position	LEFT
	ifdescription	2D map data is gotten
	description	2D map data is gotten
	serviceinterface/doc_serviceinterface
	1	name	MapBuilderGlobalPath
		path	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0
		type	GlobalPath
		idlFile	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0/GlobalPathPlanningPro.idl
		instanceName	MapBuilderGlobalPath
		direction	Provided
		docPostCondition	NA
		docPreCondition	NA
		docException	NA
		docReturn	void
		docArgument	SetMap()
		description	2D map data is gotten
3	name	MapMaintenanceProv
	position	LEFT
	ifdescription	A partial renewal of map is obtained
	description	A partial renewal of map is obtained
	serviceinterface/doc_serviceinterface
	1	name	MapMaintenanceGlobalPath
		path	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0
		type	GlobalPath
		idlFile	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0/GlobalPathPlanningPro.idl
		instanceName	MapMaintenanceGlobalPath
		direction	Provided
		docPostCondition	-
		docPreCondition	-
		docException	-
		docReturn	void
		docArgument	MapUpdate()
		description	A partial renewal of map is obtained
4	name	InventGUICons
	position	LEFT
	ifdescription	The route is sent to "InventGUI"
	description	The route is sent to "InventGUI"
	serviceinterface/doc_serviceinterface
	1	name	GlobalPathInventGUI
		path	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0
		type	InventGUI
		idlFile	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0/GlobalPathPlanningCons.idl
		instanceName	GlobalPathInventGUI
		direction	Required
		docPostCondition	NA
		docPreCondition	The route making is completed
		docException	NA
		docReturn	void
		docArgument	LocalPathCourse()
		description	The route is sent to "InventGUI"
5	name	LocalPathCons
	position	LEFT
	ifdescription	The route is sent to "InventGUI"
	description	The route is sent to "InventGUI"
	serviceinterface/doc_serviceinterface
	1	name	GlobalPathLocalPath
		path	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0
		type	LocalPath
		idlFile	/tmp/OpenINVENT-4.0.0/GlobalPathPlanning_ver4.0.0/GlobalPathPlanningCons.idl
		instanceName	GlobalPathLocalPath
		direction	Required
		docPostCondition	NA
		docPreCondition	The route making is completed
		docException	NA
		docReturn	void
		docArgument	GlobalPathCourse()
		description	The route is sent to "LocalPathPlanning"