| RtcProfile | |||
| ID | RTC:AIST INVENT:Sensor:RangeSensor:4.0.0 | ||
| Version | 0.2 | ||
| BasicInfo | |||
| Name | RangeSensor | ||
| ComponentType | STATIC | ||
| ActivityType | PERIODIC | ||
| ComponentKind | DataFlowComponent | ||
| Category | Sensor | ||
| Description | Range Sensor | ||
| 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 distance of the sensor is converted into "MeasuredData" | ||
| inout | IN : distance OUT : MeasuredData |
||
| description | Output of the optimized range data | ||
| 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 | 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 | Output of the optimized range data | ||
| OnStateUpdate | implemented | false | |
| OnRateChanged | implemented | false | |
| OnAction | implemented | false | |
| OnModeChanged | implemented | false | |
| configuration/doc_configuration | |||
| 1 | name | startAngle | |
| unit | [deg] | ||
| defaultValue | -45.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | -45 to 270 | ||
| unit | [deg] | ||
| description | start angle of output data | ||
| defaultValue | -45.0 | ||
| dataname | Measurement start angle | ||
| 2 | name | endAngle | |
| unit | [deg] | ||
| defaultValue | 225.0 | ||
| type | double | ||
| constraint | Reflected timing ( Always ) | ||
| range | -45 to 270 | ||
| unit | [deg] | ||
| description | end angle of output data | ||
| defaultValue | 225.0 | ||
| dataname | Measurement end angle | ||
| 3 | name | groupingNumber | |
| unit | [number] | ||
| defaultValue | 1 | ||
| type | int | ||
| constraint | Reflected timing ( Always ) | ||
| range | 1-99 | ||
| unit | [number] | ||
| description | Number in which output data is brought together | ||
| defaultValue | 1 | ||
| dataname | groupingNumber | ||
| 4 | name | scanAngle | |
| unit | [deg] | ||
| defaultValue | 270.0 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Refer to the value among models used | ||
| unit | [deg] | ||
| description | scan angle (Model information) | ||
| defaultValue | 270.0 | ||
| dataname | scanAngle | ||
| 5 | name | scanStep | |
| unit | [deg] | ||
| defaultValue | 0.25 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Refer to the value among models used | ||
| unit | [deg] | ||
| description | scan angle (Model information) | ||
| defaultValue | 0.25 | ||
| dataname | scanStep | ||
| 6 | name | scanMaxDistance | |
| unit | [m] | ||
| defaultValue | 10.0 | ||
| type | double | ||
| constraint | Reflected timing ( inactive ) | ||
| range | Refer to the value among models used | ||
| unit | [m] | ||
| description | scan max distance (Model information) | ||
| defaultValue | 10.0 | ||
| dataname | scanMaxDistance | ||
| dataports/doc_dataport | |||
| 1 | portType | DataInPort | |
| unit | [mm] | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | TimedDoubleSeq | ||
| name | InRange | ||
| position | LEFT | ||
| variableName | InRange | ||
| operation | |||
| occerrence | |||
| unit | [mm] | ||
| semantics | range data of sensor simulation | ||
| number | - | ||
| type | TimedDoubleSeq | ||
| description | Input of the distance data | ||
| 2 | portType | DataOutPort | |
| unit | - | ||
| subscriptionType | |||
| dataflowType | |||
| interfaceType | |||
| idlFile | |||
| type | SensorRTC::LaserRangeSensor::idl::TimedMeasuredData | ||
| name | OutSensorData | ||
| position | RIGHT | ||
| variableName | OutSensorData | ||
| operation | |||
| occerrence | |||
| unit | - | ||
| semantics | startPosition = Starting position of measurement endtPosition = Position where measurement is ended interval = Number of thinning out of distance data distance = Distance data sensorState = State of sensor |
||
| number | 6 | ||
| type | TimedMeasurementData | ||
| description | Output of the range data | ||