======================================================================
  RTComponent: AccAndMagnSensor_LSM303DLHC specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

  LGPL

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

#   rtc-template -bcxx --module-name=AccAndMagnSensor_LSM303DLHC 
#   --module-desc='AccAndMagnSensor_LSM303DLHC' --module-version=1.0.0 --module-vendor=Miyamoto Nobuhiko 
#   --module-category=Sensor --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=I2C_channel:int:1 --config=Acc_addr:int:25 --config=Magn_addr:int:30 --config=offset:double:0 
#   --outport=acc:RTC::TimedAcceleration3D --outport=magn:RTC::TimedDoubleSeq --outport=tmp:RTC::TimedDouble --outport=rot:RTC::TimedOrientation3D 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: AccAndMagnSensor_LSM303DLHC
Description: AccAndMagnSensor_LSM303DLHC
Version:     1.0.0
Vendor:      Miyamoto Nobuhiko
Category:    Sensor
Kind:        DataFlowComponent
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

Overview:    加速度・地磁気6軸センサLSM303DLHCで加速度と地磁気を検
             出してDataOutPortから出力するRTCです。
# </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">


# </rtc-template>

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

	Name:        acc
	PortNumber:  0
	Description: 加速度センサの計測値
	PortType: 
	DataType:    RTC::TimedAcceleration3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedAcceleration3D
		Number:          
		Semantics:       
		Unit:            m/s^2
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        magn
	PortNumber:  1
	Description: 地磁気センサの計測値
	PortType: 
	DataType:    RTC::TimedDoubleSeq
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedDoubleSeq
		Number:          
		Semantics:       
		Unit:            mG
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        tmp
	PortNumber:  2
	Description: 温度センサの計測値
	PortType: 
	DataType:    RTC::TimedDouble
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedDouble
		Number:          
		Semantics:       
		Unit:            度
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        rot
	PortNumber:  3
	Description: センサ情報から計算した姿勢
	PortType: 
	DataType:    RTC::TimedOrientation3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedOrientation3D
		Number:          
		Semantics:       
		Unit:            
		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:            I2C_channel I2C_channel
		Description:     I2Cのポート番号
		Type:            int
		DefaultValue:    1 1
		Unit:            
		Range:           
		Constraint:      (1,6)

		Name:             Acc_addr
		Description:     LSM303DLHCの加速度センサのI2Cスレーブアドレス
		Type:            int
		DefaultValue:     25
		Unit:            
		Range:           
		Constraint:      

		Name:             Magn_addr
		Description:     LSM303DLHCの地磁気センサのI2Cスレーブアドレス
		Type:            int
		DefaultValue:     30
		Unit:            
		Range:           
		Constraint:      

		Name:            offset offset
		Description:     姿勢のオフセット
		Type:            double
		DefaultValue:    0 0
		Unit:            rad
		Range:           
		Constraint:      0<=x<=3.14

# </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.