Basic RT components and utilities
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This component computes joint velocities and accelerations from joint positions
implementation_id | HGcontroller |
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category | example |
port name | data type | unit | description |
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qIn | RTC::TimedDoubleSeq | [rad] or [m] | joint positions |
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 |
N/A
N/A
name | type | unit | default value | description |
---|---|---|---|---|
dt | double | 0.005 | sampling time |
N/A