Overview

This component is otd.

Feature

implementation_id	ObjectContactTurnaroundDetector
category	example

Data Ports

Input Ports

port name	data type	unit	description
qCurrent	RTC::TimedDoubleSeq	[rad]	Actual joint angles
rpy	RTC::TimedOrientation3D	[rad]	Actual attitude sensor's Roll-Pitch-Yaw angle
name of force/torque sensor defined in a VRML model, such as "rhsensor"	RTC::TimedDoubleSeq	[N],[Nm]	Actual force/torque in the sensor frame

Output Ports

port name	data type	unit	description

Service Ports

Service Providers

port name	interface name	service type	IDL	description
ObjectContactTurnaroundDetectorService	service0	ObjectContactTurnaroundDetectorService	OpenHRP::ObjectContactTurnaroundDetectorService	ObjectContactTurnaroundDetectorService

Service Consumers

N/A

Configuration Variables

name	type	unit	default value	description
debugLevel	int		0	debug level

Configuration File

N/A