======================================================================
  RTComponent: MobileRobotControl specificatioin

  OpenRTM-aist-0.4.2
  Date: $Date$

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

#   rtc-template -bcxx,cxx,cxx,cxx,cxx --module-name=MobileRobotControl 
#   --module-desc='移動機能を実現するRTコンポーネント(Beego)' --module-version=0.4.0 --module-vendor=H.Takahashi, Arai Lab., Osaka Univ. 
#   --module-category=Locomotion Controller --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --config=CmdArg:string:--simulation 
#   --outport=Odometry:TimedLongSeq 
#   --service-idl=C:\Users\enon\Desktop\LocomotionControl.idl 
#   --service=LocomotionControl:LControl:LocomotionControl 
#   --service=Correction:LCorrection:LocomotionCorrection 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: MobileRobotControl
Description: 移動機能を実現するRTコンポーネント(Beego)
Version:     0.4.0
Vendor:      H.Takahashi, Arai Lab., Osaka Univ.
Category:    Locomotion Controller
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

# </rtc-template>


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

[on_initialize]

[on_finalize]

[on_startup]

[on_shutdown]

[on_activated]

[on_deactivated]

[on_execute]

[on_aborting]

[on_error]

[on_reset]

[on_state_update]

[on_rate_changed]

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


# </rtc-template>

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

	Name:        Odometry
	PortNumber:  0
	Description: オドメトリ情報の出力
	PortType: 
	DataType:    TimedLongSeq
	MaxOut: 
	[Data Elements]
		Name:
		Type:            TimedDoubleSeq
		Number:          1
		Semantics:       
		Unit:            
		Frequency:       
		Operation Cycle: 
		RangeLow:
		RangeHigh:
		DefaultValue:


# </rtc-template>


======================================================================
    Service Port definition
======================================================================
# <rtc-template block="serviceport">
	PortName:    LocomotionControl
	Description: 
	Interface:   
		[Service Provider Interfaces]
		Name:          LControl
		Type:          LocomotionControl
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
	PortName:    Correction
	Description: 
	Interface:   
		[Service Provider Interfaces]
		Name:          LCorrection
		Type:          LocomotionCorrection
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
# </rtc-template> 

======================================================================
    Configuration definition
======================================================================
# <rtc-template block="configuration">
	Configuration:
		Name:             CmdArg
		Description:     
		Type:            string
		DefaultValue:     --simulation
		Unit:            
		Range:           
		Constraint:      

# </rtc-template> 
This area is reserved for future OpenRTM.

