======================================================================
  RTComponent: HumanFollow specificatioin

  OpenRTM-aist-0.4.2
  Date: $Date$

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

#   rtc-template -bcxx --module-name=HumanFollow 
#   --module-desc='HumanFollow Component' --module-version=1.0.0 --module-vendor=SegwayJapan 
#   --module-category=Generic --module-comp-type=DataFlowComponent 
#   --module-act-type=SPORADIC --module-max-inst=10 
#   --config=Kspeed:double:1.0 --config=Kturn:double:3.0 --config=MAXspeed:double:1.0 --config=MAXturn:double:1.5 --config=Distance:double:1.5 --config=Output:int:0 --config=Mode:int:0 --config=Kcurve_svec:double:1.0 --config=Kcurve_evec:double:1.0 --config=PathVel:double:1.0 --config=PathTargetR:double:0.5 --config=PathTurn:double:1.0 --config=PathStopR:double:0.5 --config=PathTime:double:0.0 
#   --inport=HumanPos:TimedOdometry --inport=HumanPosIIS:IIS::TimedPosition --inport=RobotPosIIS:IIS::TimedPosition --outport=Velocity:TimedVelocity --outport=VelocityIIS:IIS::TimedVelocity 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: HumanFollow
Description: HumanFollow Component
Version:     1.0.0
Vendor:      SegwayJapan
Category:    Generic
Comp. Type:  DataFlowComponent
Act. Type:   SPORADIC
MAX Inst.:   10
Lang:        C++
Lang Type:   

# </rtc-template>


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

[Initializing]

[Ready]
	[Entry]
	[Do]
	[Exit]

[Starting]

[Active]
	[Entry]
	[Do]
	[Exit]

[Stopping]

[Error]
	[Entry]
	[Do]
	[Exit]


[Fatal Error]
	[Entry]
	[Do]
	[Exit]

[Exiting]

======================================================================
    InPorts definition
======================================================================
# <rtc-template block="inport">
InPorts:
  Name:             HumanPos
  VarName:          HumanPos
  PortNumber:       0
  Description:      
  Type:             TimedOdometry
  InterfaceType:    CorbaPort
  DataflowType:     Push,Pull
  SubscriptionType: Periodic,New,Flush
  MaxOut: 

  Name:             HumanPosIIS
  VarName:          HumanPosIIS
  PortNumber:       1
  Description:      
  Type:             IIS::TimedPosition
  InterfaceType:    CorbaPort
  DataflowType:     Push,Pull
  SubscriptionType: Periodic,New,Flush
  MaxOut: 

  Name:             RobotPosIIS
  VarName:          RobotPosIIS
  PortNumber:       2
  Description:      
  Type:             IIS::TimedPosition
  InterfaceType:    CorbaPort
  DataflowType:     Push,Pull
  SubscriptionType: Periodic,New,Flush
  MaxOut: 


# </rtc-template>

======================================================================
    OutPorts definition
======================================================================
# <rtc-template block="outport">
OutPorts:
  Name:             Velocity
  VarName:          Velocity
  PortNumber:       3
  Description:      
  Type:             TimedVelocity
  InterfaceType:    CorbaPort
  DataflowType:     Push,Pull
  SubscriptionType: Periodic,New,Flush
  MaxOut: 

  Name:             VelocityIIS
  VarName:          VelocityIIS
  PortNumber:       4
  Description:      
  Type:             IIS::TimedVelocity
  InterfaceType:    CorbaPort
  DataflowType:     Push,Pull
  SubscriptionType: Periodic,New,Flush
  MaxOut: 


# </rtc-template>


======================================================================
    Service provider definition
======================================================================
# <rtc-template block="serviceProvider">
# </rtc-template> 

======================================================================
    Service consumer definition
======================================================================
# <rtc-template block="serviceConsumer">
# </rtc-template> 

======================================================================
    Configuration definition
======================================================================
# <rtc-template block="configuration">
Configuration:
  Name:         Kspeed
  Description:  description
  Type:         double
  DefaultValue: 1.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Kturn
  Description:  description
  Type:         double
  DefaultValue: 3.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         MAXspeed
  Description:  description
  Type:         double
  DefaultValue: 1.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         MAXturn
  Description:  description
  Type:         double
  DefaultValue: 1.5
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Distance
  Description:  description
  Type:         double
  DefaultValue: 1.5
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Output
  Description:  description
  Type:         int
  DefaultValue: 0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Mode
  Description:  description
  Type:         int
  DefaultValue: 0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Kcurve_svec
  Description:  description
  Type:         double
  DefaultValue: 1.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Kcurve_evec
  Description:  description
  Type:         double
  DefaultValue: 1.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         PathVel
  Description:  description
  Type:         double
  DefaultValue: 1.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         PathTargetR
  Description:  description
  Type:         double
  DefaultValue: 0.5
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         PathTurn
  Description:  description
  Type:         double
  DefaultValue: 1.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         PathStopR
  Description:  description
  Type:         double
  DefaultValue: 0.5
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         PathTime
  Description:  description
  Type:         double
  DefaultValue: 0.0
  Range:        range
  Unit:         unit
  Constraint:   constraint

# </rtc-template> 

This area is reserved for future OpenRTM.

