/**

\page OccupancyGridMap3D

\section introduction Overview

3D occupancy grid map component. This component is implemented using OctoMap(http://octomap.sourceforge.net/).

<table>
<tr><th>implementation_id</th><td>OccupancyGridMap3D</td></tr>
<tr><th>category</th><td>example</td></tr>
<tr><th>initialize function</th><td>OccupancyGridMap3DInit</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>cloud</td><td>PointCloudTypes::PointCloud</td><td></td><td>point cloud given in the sensor coordinates</td></tr>
<tr><td>pose</td><td>RTC::Pose3D</td><td></td><td>sensor coordinates</td></tr>
<tr><td>update</td><td>RTC::TimedLong</td><td></td><td>true to update the map, false otherwise</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>updateSignal</td><td>RTC::TimedLong</td><td></td><td>signal to notify the map is updated(The value has no meaning)</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>OGMap3DService</td><td>service1</td><td>OGMap3DService</td><td>\ref OpenHRP::OGMap3DService</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>resolution</td><td>double</td><td>[m]</td><td>0.1</td><td>size of voxel</td></tr>
<tr><td>occupiedThd</td><td>double</td><td></td><td>0.5</td><td>threshold to decide a voxel as occupied</td></tr>
<tr><td>initialMap</td><td>std::string</td><td></td><td></td><td>path of the initial map</td></tr>
<tr><td>knownMap</td><td>std::string</td><td></td><td></td><td>path of the known map. The known map is never modified.</td></tr>
<tr><td>debugLevel</td><td>int</td><td></td><td></td><td>debug level</td></tr>
</table>

\section conf Configuration File

N/A

 */
