======================================================================
  RTComponent: PickingTaskManager specificatioin

  OpenRTM-aist-1.0.0
  Date: $Date$

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

#   rtc-template -bcxx --module-name=PickingTaskManager 
#   --module-desc='ModuleDescription' --module-version=1.0.0 --module-vendor=ogata-lab 
#   --module-category=Category --module-comp-type=STATIC 
#   --module-act-type=PERIODIC --module-max-inst=1 
#   --consumer-idl=/home/ogata/workspace/ManipulationPlanner_OMPL/idl/TrajectoryPlanner.idl --consumer-idl=/home/ogata/workspace/ManipulationPlanner_OMPL/idl/TrajectoryPlanner.idl --consumer-idl=/home/ogata/workspace/ManipulationPlanner_OMPL/idl/TrajectoryPlanner.idl --consumer-idl=/home/ogata/workspace/ManipulationPlanner_OMPL/idl/TrajectoryPlanner.idl 
#   --consumer=ObjectDetectionService:ObjectDetectionService:Manipulation::ObjectDetectionService 
#   --consumer=ManipulationPlannerService:ManipulationPlannerService:Manipulation::ManipulationPlannerService 
#   --consumer=KinematicsSolverService:KinematicsSolverService:Manipulation::KinematicsSolverService 
#   --consumer=MotionGeneratorService:MotionGeneratorService:Manipulation::MotionGeneratorService 


======================================================================
    Basic Information
======================================================================
# <rtc-template block="module">
Module Name: PickingTaskManager
Description: ModuleDescription
Version:     1.0.0
Vendor:      ogata-lab
Category:    Category
Kind:        DataFlowComponent
Comp. Type:  STATIC
Act. Type:   PERIODIC
MAX Inst.:   1
Lang:        C++
Lang Type:   

# </rtc-template>


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

[on_initialize]    implemented

[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">


# </rtc-template>


======================================================================
    Service Port definition
======================================================================
# <rtc-template block="serviceport">
	PortName:    ObjectDetectionService
	Description: 
	Interface:   
		[Service Consumer Interfaces]
		Name:          ObjectDetectionService
		Type:          Manipulation::ObjectDetectionService
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
	PortName:    ManipulationPlannerService
	Description: 
	Interface:   
		[Service Consumer Interfaces]
		Name:          ManipulationPlannerService
		Type:          Manipulation::ManipulationPlannerService
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
	PortName:    KinematicsSolverService
	Description: 
	Interface:   
		[Service Consumer Interfaces]
		Name:          KinematicsSolverService
		Type:          Manipulation::KinematicSolverService
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
	PortName:    MotionGeneratorService
	Description: 
	Interface:   
		[Service Consumer Interfaces]
		Name:          MotionGeneratorService
		Type:          Manipulation::MotionGeneratorService
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
	PortName:    manipulatorCommonInterface_Middle
	Description: 
	Interface:   
		[Service Consumer Interfaces]
		Name:          manipulatorCommonInterface_Middle
		Type:          JARA_ARM::ManipulatorCommonInterface_Middle
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
	PortName:    ObjectHandleStrategyService
	Description: 
	Interface:   
		[Service Consumer Interfaces]
		Name:          ObjectHandleStrategyService
		Type:          Manipulation::ObjectHandleStrategyService
		Description:   
		Argument:      
		Return Value:  
		Exception:     
		PreCondition:  
		PostCondition: 
# </rtc-template> 

======================================================================
    Configuration definition
======================================================================
# <rtc-template block="configuration">
# </rtc-template> 

This software is developed at the National Institute of Advanced
Industrial Science and Technology. Approval number H23PRO-????. This
software is licensed under the Lesser General Public License. See
COPYING.LESSER.

This area is reserved for future OpenRTM.