======================================================================
  RTComponent: Intermittent_Crawl_Gait_Controller specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

  @author 宮本　信彦　n-miyamoto@aist.go.jp
   産業技術総合研究所　ロボットイノベーション研究センター
   ロボットソフトウエアプラットフォーム研究チーム

  This file is generated by rtc-template with the following argments.

#   rtc-template -bcxx --module-name=Intermittent_Crawl_Gait_Controller 
#   --module-desc='Intermittent Crawl Gait Controller Component' --module-version=1.0.0 --module-vendor=AIST 
#   --module-category=Controller --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=step_time:double:4.0 --config=stride:double:0.08 --config=offset_center_pos_x:double:0.042 --config=offset_center_pos_y:double:-0.013 --config=offset_center_pos_z:double:0.016 --config=stability:double:0.01 
#   --inport=target_velocity:RTC::TimedVelocity3D --outport=foot_pos_lf:RTC::TimedPose3D --outport=foot_pos_lb:RTC::TimedPose3D --outport=foot_pos_rb:RTC::TimedPose3D --outport=foot_pos_rf:RTC::TimedPose3D --outport=current_pose:RTC::TimedPose3D 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: Intermittent_Crawl_Gait_Controller
Description: Intermittent Crawl Gait Controller Component
Version:     1.0.0
Vendor:      AIST
Category:    Controller
Kind:        DataFlowComponent
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

Overview:    間歇クロール歩容により四足歩行ロボットを制御するための
             コンポーネント
# </rtc-template>


======================================================================
    Activity definition
======================================================================

[on_initialize]    implemented

[on_finalize]      implemented

[on_startup]       implemented

[on_shutdown]      implemented

[on_activated]     implemented

[on_deactivated]   implemented

[on_execute]       implemented

[on_aborting]      implemented

[on_error]         implemented

[on_reset]         implemented

[on_state_update]  implemented

[on_rate_changed]  implemented

======================================================================
    InPorts definition
======================================================================
# <rtc-template block="inport">

	Name:        target_velocity
	PortNumber:  0
	Description: 目標速度
	PortType: 
	DataType:    RTC::TimedVelocity3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedVelocity3D
		Number:          
		Semantics:       
		Unit:            m/s, rad/s
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>

======================================================================
    OutPorts definition
======================================================================
# <rtc-template block="outport">

	Name:        foot_pos_lf
	PortNumber:  0
	Description: 左前脚の目標位置
	PortType: 
	DataType:    RTC::TimedPose3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose3D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        foot_pos_lb
	PortNumber:  1
	Description: 左後足の目標位置
	PortType: 
	DataType:    RTC::TimedPose3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose3D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        foot_pos_rb
	PortNumber:  2
	Description: 右後足の目標位置
	PortType: 
	DataType:    RTC::TimedPose3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose3D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        foot_pos_rf
	PortNumber:  3
	Description: 右前足の目標位置
	PortType: 
	DataType:    RTC::TimedPose3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose3D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        current_pose
	PortNumber:  4
	Description: 現在位置
	PortType: 
	DataType:    RTC::TimedPose3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedPose3D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>


======================================================================
    Service Port definition
======================================================================
# <rtc-template block="serviceport">
# </rtc-template> 

======================================================================
    Configuration definition
======================================================================
# <rtc-template block="configuration">
	Configuration:
		Name:            step_time step_time
		Description:     歩行の一回のループにかかる時間
		Type:            double
		DefaultValue:    4.0 4.0
		Unit:            s
		Range:           
		Constraint:      

		Name:            stride stride
		Description:     歩幅
		Type:            double
		DefaultValue:    0.08 0.08
		Unit:            m
		Range:           
		Constraint:      

		Name:            offset_center_pos_x offset_center_pos_x
		Description:     脚先基準位置のオフセット(X軸)
		Type:            double
		DefaultValue:    0.042 0.042
		Unit:            m
		Range:           
		Constraint:      

		Name:            offset_center_pos_y offset_center_pos_y
		Description:     脚先基準位置のオフセット(X軸)
		Type:            double
		DefaultValue:    -0.013 -0.013
		Unit:            m
		Range:           
		Constraint:      

		Name:            offset_center_pos_z offset_center_pos_z
		Description:     脚先基準位置のオフセット(Z軸)
		Type:            double
		DefaultValue:    0.016 0.016
		Unit:            m
		Range:           
		Constraint:      

		Name:            stability stability
		Description:     最低安定余裕
		Type:            double
		DefaultValue:    0.01 0.01
		Unit:            m
		Range:           
		Constraint:      

# </rtc-template> 

This software is developed at the National Institute of Advanced
Industrial Science and Technology. Approval number H23PRO-????. This
software is licensed under the Lesser General Public License. See
COPYING.LESSER.

This area is reserved for future OpenRTM.