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ObjectContactTurnaroundDetector.txt
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ObjectContactTurnaroundDetector.txt
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/**
\page ObjectContactTurnaroundDetector
\section introduction Overview
This component is octd.
\subsection feature Feature
<table>
<tr><th>implementation_id</th><td>ObjectContactTurnaroundDetector</td></tr>
<tr><th>category</th><td>example</td></tr>
</table>
\section dataports Data Ports
\subsection inports Input Ports
<table>
<tr><th>port name</th><th>data type</th><th>unit</th><th>description</th></tr>
<tr><td>qCurrent</td><td>RTC::TimedDoubleSeq</td><td>[rad]</td><td>Actual joint angles</td></tr>
<tr><td>rpy</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>
Actual attitude sensor's Roll-Pitch-Yaw angle </td></tr>
<tr><td>name of force/torque sensor defined in a VRML model, such as "rhsensor"</td><td>RTC::TimedDoubleSeq</td><td>[N],[Nm]</td><td>Actual force/torque in the sensor frame</td></tr>
</table>
\subsection outports Output Ports
<table>
<tr><th>port name</th><th>data type</th><th>unit</th><th>description</th></tr>
</table>
\section serviceports Service Ports
\subsection provider Service Providers
<table>
<tr><th>port name</th><th>interface name</th><th>service type</th><th>IDL</th><th>description</th></tr>
<tr><td>ObjectContactTurnaroundDetectorService</td><td>service0</td><td>ObjectContactTurnaroundDetectorService</td><td>\ref OpenHRP::ObjectContactTurnaroundDetectorService</td><td>ObjectContactTurnaroundDetectorService</td></tr>
</table>
\subsection consumer Service Consumers
N/A
\section configuration Configuration Variables
<table>
<tr><th>name</th><th>type</th><th>unit</th><th>default
value</th><th>description</th></tr>
<tr><td>debugLevel</td><td>int</td><td></td><td>0</td><td>debug level</td></tr>
</table>
\section conf Configuration File
N/A
*/