/**

\page ForwardKinematics

\section introduction Overview

This component computes forward kinematics of the robot and provides positions and orientations of links.

<table>
<tr><th>implementation_id</th><td>ForwardKinematics</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>q</td><td>RTC::TimedDoubleSeq</td><td>[rad]</td><td>measured joint angles</td></tr>
<tr><td>sensorRpy</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>Roll-Pitch-Yaw angles of the link to which an intertia sensor is attached</td></tr>
<tr><td>qRef</td><td>RTC::TimedDoubleSeq</td><td>[rad]</td><td>reference joint angles</td></tr>
<tr><td>basePosRef</td><td>RTC::TimedPoint3D</td><td>[m]</td><td>reference position of the base link</td></tr>
<tr><td>baseRpyRef</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>reference Roll-Pitch-Yaw angles of the base link</td></tr>
</table>

\subsection outports Output Ports

N/A

\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>ForwardKinematicsService</td><td>service0</td><td>ForwardKinematicsService</td><td>\ref OpenHRP::ForwardKinematicsService</td><td></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>sensorAttachedLink</td><td>std::string</td><td></td><td>""</td><td>name of the link to which the inertia sensor is attached. If this variable is not set, the root link is used as the sensor attached link.</td></tr>
</table>

\section conf Configuration File

<table>
<tr><th>key</th><th>type</th><th>unit</th><th>description</th></tr>
<tr><td>model</td><td>std::string</td><td></td><td>URL of the robot model</td></tr>
</table>

 */
