RtcProfile
ID	RTC:AIST INVENT:Localization:Odometry:4.0.0
Version	0.2
BasicInfo
Name	Odometry
ComponentType	STATIC
ActivityType	PERIODIC
ComponentKind	DataFlowComponent
Category	Localization
Description	detect position by Odometry
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) current Angle data (encoder data) (2) current position data [OUTPUT] (1) Odometry's position data
description	(1)get current Wheel Angle data from MotorControlRTC (2)get current Robot's position data from LocalizationRTC (3)calculate current position by Odometry (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 current Wheel Angle data from MotorControlRTC (2)get current Robot's position data from LocalizationRTC (3)calculate current position by Odometry (4)send current odometry position data to LocalizationRTC
OnStateUpdate	implemented	false
OnRateChanged	implemented	false
OnAction	implemented	false
OnModeChanged	implemented	false
configuration/doc_configuration
1	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
2	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
3	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
4	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
5	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
6	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	TimedDoubleSeq
	name	CurrentWheelAngle
	position	LEFT
	variableName	CurrentWheelAngle
	operation
	occerrence
	unit	angle data : [rad], timeStamp: [sec],[nanosec]
	semantics	current Wheel Angle data for Odometry [0]: left wheel's current data [1]: right wheel's current data
	number	angle data:2, timeStamp:1
	type	angle data: double, timeStamp:tm
	description	current Wheel Angle data for Odometry
2	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 ,id[] ,error[]
	type	localized Position data: double, timeStamp:tm
	description	current Localized Position data
3	portType	DataOutPort
	unit
	subscriptionType
	dataflowType
	interfaceType
	idlFile
	type	IIS::TimedPosition
	name	OdometryPosition
	position	RIGHT
	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