/**

\page StateHolder

\section introduction Overview

This component memorize references(joint angles, position/orientation of the base link, ... etc) from input data ports and provide them to other components

<table>
<tr><th>implementation_id</th><td>StateHolder</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>currentQIn</td><td>RTC::TimedDoubleSeq</td><td>[rad]</td><td>measured joint angles</td></tr>
<tr><td>qIn</td><td>RTC::TimedDoubleSeq</td><td>[rad]</td><td>reference joint angles</td></tr>
<tr><td>tqIn</td><td>RTC::TimedDoubleSeq</td><td>[Nm]</td><td>reference joint torques</td></tr>
<tr><td>basePosIn</td><td>RTC::TimedPoint3D</td><td>[m]</td><td>reference position of the base link</td></tr>
<tr><td>baseRpyIn</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>Roll-Pitch-Yaw angles of the base link</td></tr>
<tr><td>zmpIn</td><td>RTC::TimedPoint3D</td><td>[m]</td><td>ZMP(Zero Moment Point) w.r.t. the base link</td></tr>
<tr><td>name of force/torque sensor defined in a VRML model + "In", such as "rhsensorIn"</td><td>RTC::TimedDoubleSeq</td><td>[N],[Nm]</td><td>reference force/torque in the sensor frame</td></tr>
<tr><td>optionalDataIn</td><td>RTC::TimedDoubleSeq</td><td></td><td>optional data sequence</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>qOut</td><td>RTC::TimedDoubleSeq</td><td>[rad]</td><td>reference joint angles</td></tr>
<tr><td>tqRef</td><td>RTC::TimedDoubleSeq</td><td>[Nm]</td><td>reference joint torques</td></tr>
<tr><td>basePosOut</td><td>RTC::TimedPoint3D</td><td>[m]</td><td>reference position of the base link in the world frame</td></tr>
<tr><td>baseRpyOut</td><td>RTC::TimedOrientation3D</td><td>[rad]</td><td>reference Roll-Pitch-Yaw angles of the base link in the world frame</td></tr>
<tr><td>zmpOut</td><td>RTC::TimedPoint3D</td><td>[m]</td><td>ZMP(Zero Moment Point) in the base link frame</td></tr>
<tr><td>name of force/torque sensor defined in a VRML model + "Out", such as "rhsensorOut"</td><td>RTC::TimedDoubleSeq</td><td>[N],[Nm]</td><td>reference force/torque in the sensor frame</td></tr>
<tr><td>optionalDataOut</td><td>RTC::TimedDoubleSeq</td><td></td><td>optional data sequence</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>StateHolderService</td><td>service0</td><td>StateHolderService</td><td>\ref OpenHRP::StateHolderService</td><td></td></tr>
<tr><td>TimeKeeperService</td><td>service1</td><td>TimeKeeperService</td><td>\ref OpenHRP::TimeKeeperService</td><td></td></tr>
</table>

\subsection consumer Service Consumers

N/A

\section configuration Configuration Variables

N/A

\section conf Configuration File

N/A

 */
