| RtcProfile | |||
| ID | RTC:AIST INVENT:Planner:LocalPathPlanning:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | LocalPathPlanning | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Planner | ||
| Description | Local 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 | A local route is made by using the obstacle and present location | ||
| inout | IN : Grid Map, Route making information, Obstacle data OUT : Grid Path Data, Control Point data |
||
| description | A local route is made based on the obstacle data etc. | ||
| 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 and control point | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | RouteRemakeDistance | |
| unit | [m] | ||
| defaultValue | 0.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Route re-creation distance | ||
| defaultValue | 0.0 | ||
| dataname | RouteRemakeDistance | ||
| 2 | name | Deviatinglen | |
| unit | [m] | ||
| defaultValue | 0.1 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Deviating judgment distance | ||
| defaultValue | 0.1 | ||
| dataname | Deviatinglen | ||
| 3 | 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 | ||
| 4 | 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 | ||
| 5 | 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 | ||
| 6 | name | TargetArea | |
| unit | [m] | ||
| defaultValue | 0.5 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | Appropriate range | ||
| unit | [m] | ||
| description | Area where route is fine-tuned | ||
| defaultValue | 0.5 | ||
| dataname | TargetArea | ||
| dataports/doc_dataport | |||
| 1 | portType | DataInPort | |
| unit | |||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | IIS::TimedPosition | ||
| name | InCurrentPosition | ||
| position | LEFT | ||
| variableName | InCurrentPosition | ||
| 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 | Input of the Current Position | ||
| 2 | portType | DataInPort | |
| unit | [m] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDouble | ||
| name | InDeviating | ||
| position | LEFT | ||
| variableName | InDeviating | ||
| operation | |||
| occerrence | |||
| unit | [m] | ||
| semantics | Deviating distance | ||
| number | 1 | ||
| type | TimedDouble | ||
| description | Input of the deviating distance | ||
| serviceport/doc_serviceport | |||
| 1 | name | InventGUIProv | |
| position | LEFT | ||
| ifdescription | The parameter that makes the route is obtained | ||
| description | The parameter that makes the route is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUILocalPath | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningPro.idl | ||
| instanceName | InventGUILocalPath | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetSafeMode() SetStart() | ||
| 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 | MapBuilderLocalPath | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningPro.idl | ||
| instanceName | MapBuilderLocalPath | ||
| 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 | MapMaintenanceLocalPath | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningPro.idl | ||
| instanceName | MapMaintenanceLocalPath | ||
| direction | Provided | ||
| docPostCondition | - | ||
| docPreCondition | - | ||
| docException | - | ||
| docReturn | void | ||
| docArgument | MapUpdate() | ||
| description | A partial renewal of map is obtained | ||
| 4 | name | GlobalPathProv | |
| position | LEFT | ||
| ifdescription | The route made from "GlobalPathPlanning" is obtained | ||
| description | The route made from "GlobalPathPlanning" is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | GlobalPathLocalPath | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningPro.idl | ||
| instanceName | GlobalPathLocalPath | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | GlobalPathCourse() | ||
| description | The route made from "GlobalPathPlanning" is obtained | ||
| 5 | name | InventGUICons | |
| position | LEFT | ||
| ifdescription | The route is sent to "InventGUI" | ||
| description | The route is sent to "InventGUI" | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | LocalPathInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningCons.idl | ||
| instanceName | LocalPathInventGUI | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | The route making is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | LocalPathCourse() | ||
| description | The route is sent to "InventGUI" | ||
| 6 | name | DriveCons | |
| position | LEFT | ||
| ifdescription | The control point is sent to "Drive" | ||
| description | The control point is sent to "Drive" | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | LocalPathDrive | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | Drive | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningCons.idl | ||
| instanceName | LocalPathDrive | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | The route making is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | LocalPathCourse() | ||
| description | The control point is sent to "Drive" | ||
| 7 | name | BumpCons | |
| position | LEFT | ||
| ifdescription | The route is sent to "Bump" | ||
| description | The route is sent to "Bump" | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | LocalPathBump | |
| path | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0 | ||
| type | Drive | ||
| idlFile | /tmp/OpenINVENT-4.0.0/LocalPathPlanning_ver4.0.0/LocalPathPlanningCons.idl | ||
| instanceName | LocalPathBump | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | The route making is completed | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | LocalPathCourse() | ||
| description | The route is sent to "Bump" | ||