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======================================================================
  RTComponent: RaspberryPiMouseController_Joystick specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

  @author 宮本　信彦　[email protected]
   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=RaspberryPiMouseController_Joystick 
#   --module-desc='Controll Raspberry Pi Mouse by Joystick' --module-version=1.0.0 --module-vendor=AIST 
#   --module-category=Controller --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=forward_factor:double:0.01 --config=tangential_factor:double:3.0 
#   --inport=joystick:RTC::TimedFloatSeq --inport=pose:RTC::TimedOrientation3D --outport=out:RTC::TimedVelocity2D 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: RaspberryPiMouseController_Joystick
Description: Controll Raspberry Pi Mouse by Joystick
Version:     1.0.0
Vendor:      AIST
Category:    Controller
Kind:        DataFlowComponent
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

Overview:    ラズパイマウスをジョイスティックで指定した方角に移動さ
             せる
# </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:        joystick
	PortNumber:  0
	Description: 変換前のデータ
	PortType: 
	DataType:    RTC::TimedFloatSeq
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedFloatSeq
		Number:          
		Semantics:       
		Unit:            
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:

	Name:        pose
	PortNumber:  1
	Description: ラズパイマウスの現在の姿勢
	PortType: 
	DataType:    RTC::TimedOrientation3D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedOrientation3D
		Number:          
		Semantics:       
		Unit:            m,rad
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>

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

	Name:        out
	PortNumber:  0
	Description: 変換後のデータ
	PortType: 
	DataType:    RTC::TimedVelocity2D
	MaxOut: 
	[Data Elements]
		Name:
		Type:            RTC::TimedVelocity2D
		Number:          
		Semantics:       
		Unit:            m/s,rad/s
		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:            forward_factor forward_factor
		Description:     入力に対する直進速度の大きさ
		Type:            double
		DefaultValue:    0.01 0.01
		Unit:            
		Range:           
		Constraint:      

		Name:            tangential_factor tangential_factor
		Description:     入力に対する回転速度の大きさ
		Type:            double
		DefaultValue:    3.0 3.0
		Unit:            
		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.