======================================================================
  RTComponent: CeilingNavigation specificatioin

  OpenRTM-aist-0.4.2
  Date: $Date$

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

#   rtc-template -bcxx --module-name=CeilingNavigation 
#   --module-desc='CeilingNavigation' --module-version=1.0.0 --module-vendor=NAIST and FSI 
#   --module-category=Navigation --module-comp-type=DataFlowComponent 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=NavigationMap:std::string:"./ceiling_map.bmp" --config=RadonResolution:unsigned short:5 --config=RadonSize:unsigned short:64 --config=RadonCoefficient:double:0.3 --config=SearchScope:unsigned short:8 --config=BlackWhiteValue:unsigned short:240 --config=Center_X:long:-1 --config=Center_Y:long:-1 --config=OfflineImage:std::string:"./offline_image" 
#   --inport=CameraData:TimedOctetSeq --outport=CeilingOdometry:TimedOdometry 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: CeilingNavigation
Description: CeilingNavigation
Version:     1.0.0
Vendor:      NAIST and FSI
Category:    Navigation
Comp. Type:  DataFlowComponent
Act. Type:   PERIODIC
MAX Inst.:   1
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:             CameraData
  VarName:          CameraData
  PortNumber:       0
  Description:      
  Type:             TimedOctetSeq
  InterfaceType:    CorbaPort
  DataflowType:     Push,Pull
  SubscriptionType: Periodic,New,Flush
  MaxOut: 


# </rtc-template>

======================================================================
    OutPorts definition
======================================================================
# <rtc-template block="outport">
OutPorts:
  Name:             CeilingOdometry
  VarName:          CeilingOdometry
  PortNumber:       1
  Description:      
  Type:             TimedOdometry
  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:         NavigationMap
  Description:  description
  Type:         std::string
  DefaultValue: "./ceiling_map.bmp"
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         RadonResolution
  Description:  description
  Type:         unsigned short
  DefaultValue: 5
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         RadonSize
  Description:  description
  Type:         unsigned short
  DefaultValue: 64
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         RadonCoefficient
  Description:  description
  Type:         double
  DefaultValue: 0.3
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         SearchScope
  Description:  description
  Type:         unsigned short
  DefaultValue: 8
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         BlackWhiteValue
  Description:  description
  Type:         unsigned short
  DefaultValue: 240
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Center_X
  Description:  description
  Type:         long
  DefaultValue: -1
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         Center_Y
  Description:  description
  Type:         long
  DefaultValue: -1
  Range:        range
  Unit:         unit
  Constraint:   constraint

  Name:         OfflineImage
  Description:  description
  Type:         std::string
  DefaultValue: "./offline_image"
  Range:        range
  Unit:         unit
  Constraint:   constraint

# </rtc-template> 

This area is reserved for future OpenRTM.

