| RtcProfile | |||
| ID | RTC:AIST INVENT:Planner:MapMaintenance:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | MapMaintenance | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Planner | ||
| Description | Map Maintenance | ||
| 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 map is updated based on the probability where the obstacle exists. | ||
| inout | IN : Probability where obstacle exists OUT : Obstacle existence of each grid |
||
| description | Partial update of map. | ||
| 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 | Output of the probability data Debugging file close |
||
| OnAborting | implemented | false | |
| OnError | implemented | false | |
| OnReset | implemented | false | |
| OnExecute | implemented | true | |
| postCondition | none | ||
| preCondition | none | ||
| description | The map is updated from the probability | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | ObstacleThreshold | |
| unit | - | ||
| defaultValue | 0.3 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | 0.1 to 1.0 | ||
| unit | - | ||
| description | Obstacle judgment probability value | ||
| defaultValue | 0.3 | ||
| dataname | ObstacleThreshold | ||
| 2 | name | ObstacleProbaRatio | |
| unit | - | ||
| defaultValue | 0.2 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 0.0 to about 0.9 | ||
| unit | - | ||
| description | Distribution of probability reflection | ||
| defaultValue | 0.2 | ||
| dataname | ObstacleProbaRatio | ||
| 3 | name | BumpProbaRatio | |
| unit | - | ||
| defaultValue | 0.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | about 0.0 to about 0.9 | ||
| unit | - | ||
| description | Distribution of probability reflection | ||
| defaultValue | 0.0 | ||
| dataname | BumpProbaRatio | ||
| serviceport/doc_serviceport | |||
| 1 | name | MapBuilderProv | |
| position | LEFT | ||
| ifdescription | 3D map data is gotten | ||
| description | 3D map data is gotten | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapBuilderMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenancePro.idl | ||
| instanceName | MapBuilderMapMaintenance | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | SetMap() setProbabilityMap() |
||
| description | Map data is gotten | ||
| 2 | name | ObstacleProv | |
| position | LEFT | ||
| ifdescription | The probability where the obstacle exists is obtained | ||
| description | The probability where the obstacle exists is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | ObstacleMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenancePro.idl | ||
| instanceName | ObstacleMapMaintenance | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | ObstacleProbability() | ||
| description | The probability where the obstacle exists is obtained | ||
| 3 | name | BumpProv | |
| position | LEFT | ||
| ifdescription | The probability where the obstacle exists is obtained | ||
| description | The probability where the obstacle exists is obtained | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | BumpMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenancePro.idl | ||
| instanceName | BumpMapMaintenance | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | BumpProbability() | ||
| description | The probability where the obstacle exists is obtained | ||
| 4 | name | InventGUIProv | |
| position | LEFT | ||
| ifdescription | The trigger of exporting of map's information | ||
| description | The trigger of exporting of map's information | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | InventGUIMapMaintenance | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | Maintenance | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenancePro.idl | ||
| instanceName | InventGUIMapMaintenance | ||
| direction | Provided | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | Export() | ||
| description | The trigger of exporting of map's information | ||
| 5 | name | InventGUICons | |
| position | LEFT | ||
| ifdescription | The map partially updated is transmitted | ||
| description | The map partially updated is transmitted | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceInventGUI | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | InventGUI | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenanceCons.idl | ||
| instanceName | MapMaintenanceInventGUI | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | MapUpdate() | ||
| description | The map partially updated is transmitted | ||
| 6 | name | MapBuilderCons | |
| position | LEFT | ||
| ifdescription | Output of Probability Map data | ||
| description | Output of Probability Map data | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceMapBuilder | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | Map | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenanceCons.idl | ||
| instanceName | MapMaintenanceMapBuilder | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | MapOutput() | ||
| description | Output of Probability Map data | ||
| 7 | name | GlobalPathCons | |
| position | LEFT | ||
| ifdescription | The map partially updated is transmitted | ||
| description | The map partially updated is transmitted | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceGlobalPath | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | GlobalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenanceCons.idl | ||
| instanceName | MapMaintenanceGlobalPath | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | MapUpdate() | ||
| description | The map partially updated is transmitted | ||
| 8 | name | LocalPathCons | |
| position | LEFT | ||
| ifdescription | The map partially updated is transmitted | ||
| description | The map partially updated is transmitted | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceLocalPath | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | LocalPath | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenanceCons.idl | ||
| instanceName | MapMaintenanceLocalPath | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | MapUpdate() | ||
| description | The map partially updated is transmitted | ||
| 9 | name | DriveCons | |
| position | LEFT | ||
| ifdescription | The map partially updated is transmitted | ||
| description | The map partially updated is transmitted | ||
| serviceinterface/doc_serviceinterface | |||
| 1 | name | MapMaintenanceDrive | |
| path | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0 | ||
| type | Drive | ||
| idlFile | /tmp/OpenINVENT-4.0.0/MapMaintenance_ver4.0.0/MapMaintenanceCons.idl | ||
| instanceName | MapMaintenanceDrive | ||
| direction | Required | ||
| docPostCondition | NA | ||
| docPreCondition | NA | ||
| docException | NA | ||
| docReturn | void | ||
| docArgument | MapUpdate() | ||
| description | The map partially updated is transmitted | ||