Overview
This component checks if joint acceleration is smaller than threshold or not.
| implementation_id | AccelerationChecker |
| category | example |
Data Ports
Input Ports
| port name | data type | unit | description |
| qIn | double | | |
Output Ports
| port name | data type | unit | description |
| qOut | double | | |
Service Ports
Service Providers
| port name | interface name | service type | IDL | description |
Service Consumers
N/A
Configuration Variables
| name | type | unit | default value | description |
| thd | double | [rad/m^2] | 1000 | threshold of the joint acceleration |
Configuration File
N/A
