/**

\page KalmanFilter

\section introduction Overview

This component is attitude estimation based on gyro, acceleration, and
so on.

\subsection kfexample KalmanFilterEstimation Example
KalmanFilter example, in which estimated orientation are displayed on graphs.

@code
testKalmanFilterEstimation [pose-file] [parameters] # Non ROS environment
rosrun hrpsys testKalmanFilterEstimation [pose-file] [parameters] # Non ROS environment
@endcode


<table>
<tr><th>implementation_id</th><td>KalmanFilter</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>rate</td><td>RTC::TimedAngularVelocity3D</td><td>[rad/s]</td><td>Actual 
angular velocity (gyro) of attitude sensor</td></tr>
<tr><td>acc</td><td>RTC::TimedAcceleration3D</td><td>[m/s^2]</td><td>Actual 
acceleration of attitude sensor</td></tr>
<tr><td>accRef</td><td>RTC::TimedAcceleration3D</td><td>[m/s^2]</td><td>Reference
acceleration of attitude sensor</td></tr>
<tr><td>rpyIn</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>
Actual orientation (RPY) of attitude sensor</td></tr>
</table>

\subsection outports Output Ports

<table>
<tr><th>port name</th><th>data type</th><th>unit</th><th>description</th></tr>
<tr><td>rpy</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>
Output orientation (RPY) of attitude sensor</td></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>KalmanFilterService</td><td>service0</td><td>KalmanFilterService</td><td>\ref OpenHRP::KalmanFilterService</td><td>KalmanFilterService</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

 */
