RtcProfile
ID	RTC:AIST INVENT:Localization:Localization:4.0.0
Version	0.2
BasicInfo
Name	Localization
ComponentType	STATIC
ActivityType	PERIODIC
ComponentKind	DataFlowComponent
Category	Localization
Description	Localization
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	Yusuke Nakajima (y.nakajima@aist.go.jp)
algorithm
inout	[INPUT] (1) initial robot's position data (at the first time) (2) odometry data (3) vision, gyro, etc (T.B.D) [OUTPUT] (1) Localized position data
description	(1)get initial robot's position data from InventGUIRTC (2)send current Robot's position data to other RTC (3)get odometry data, gyro, vision, etc data (4)localize current robot's position data (5)send localized robot's position data (4)send current odometry position data to LocalizationRTC
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
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)get initial robot's position data from InventGUIRTC (2)send current Robot's position data to other RTC (3)get odometry data, gyro, vision, etc data (4)localize current robot's position data (5)send localized robot's position data (4)send current odometry position data to LocalizationRTC
OnStateUpdate	implemented	false
OnRateChanged	implemented	false
OnAction	implemented	false
OnModeChanged	implemented	false
dataports/doc_dataport
1	portType	DataInPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	OdometryPosition
	position	LEFT
	variableName	OdometryPosition
	operation
	occerrence
	unit	X,Y data : [m], Angle : [rad], timeStamp: [sec],[nanosec]
	semantics	current Odometry 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, id[], error[]
	type	Odometry Position data: double, timeStamp:tm
	description	current Odometry Position data
2	portType	DataInPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	TimedDoubleSeq
	name	SimulatedPosition
	position	LEFT
	variableName	SimulatedPosition
	operation
	occerrence
	unit	X,Y,Z data : [m], THETA[rad]
	semantics	current Simulated Position data (the position of center of robots model) [0]: X data [1]: Y data [2]: Z data [3]: THETA (posture angle)
	number	4 (x,y, posture angle) , timeStamp:1
	type	Simulated Position data: double, , timeStamp:tm
	description	current Simulated Position data
3	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPositionToGUI
	position	RIGHT
	variableName	LocalizedPositionToGUI
	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, id[], error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
4	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPositionToLocalPath
	position	RIGHT
	variableName	LocalizedPositionToLocalPath
	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, id[], error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
5	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPositionToOdometry
	position	RIGHT
	variableName	LocalizedPositionToOdometry
	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, id[], error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
6	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPositionToDrive
	position	RIGHT
	variableName	LocalizedPositionToDrive
	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, id[], error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
7	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPositionToObstacle
	position	RIGHT
	variableName	LocalizedPositionToObstacle
	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, id[], error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
8	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	LocalizedPositionToBump
	position	RIGHT
	variableName	LocalizedPositionToBump
	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, id[], error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
serviceport/doc_serviceport
1	name	InventGUIProv
	position	LEFT
	ifdescription
	description	get Initial Robot's position from InventGUI through ServicePort
	serviceinterface/doc_serviceinterface
	1	name	InventGUILocalization
		path	/tmp/OpenINVENT-4.0.0/Localization_ver4.0.0
		type	Localize
		idlFile	/tmp/OpenINVENT-4.0.0/Localization_ver4.0.0/LocalizationPro.idl
		instanceName	InventGUILocalization
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	StartX : Start position X StartY : Start position Y StartAngle : Start Angle
		description	get Initial Robot's position from InventGUI through ServicePort
2	name	MapBuilderProv
	position	LEFT
	ifdescription
	description	get offset values from Origin of Map from MapBuilder through ServicePort
	serviceinterface/doc_serviceinterface
	1	name	MapBuilderLocalization
		path	/tmp/OpenINVENT-4.0.0/Localization_ver4.0.0
		type	Localize
		idlFile	/tmp/OpenINVENT-4.0.0/Localization_ver4.0.0/LocalizationPro.idl
		instanceName	MapBuilderLocalization
		direction	Provided
		docPostCondition
		docPreCondition
		docException
		docReturn	void
		docArgument	OffsetX[m], OffsetY[m]
		description	get offset values from Origin of Map from MapBuilder through ServicePort