Overview
This component computes joint velocities and accelerations from joint positions
| implementation_id | HGcontroller |
| category | example |
Data Ports
Input Ports
| port name | data type | unit | description |
| qIn | RTC::TimedDoubleSeq | [rad] or [m] | joint positions |
Output Ports
| port name | data type | unit | description |
| qOut | RTC::TimedDoubleSeq | [rad] or [m] | joint positions |
| dqOut | RTC::TimedDoubleSeq | [rad/s] or [m/s] | joint velocities |
| ddqOut | RTC::TimedDoubleSeq | [rad/s^2] or [m/s^2] | joint accelerations |
Service Ports
Service Providers
N/A
Service Consumers
N/A
Configuration Variables
| name | type | unit | default value | description |
Configuration File
| key | type | unit | description |
| dt | double | [s] | sampling time |
