/**

\page HGcontroller

\section introduction Overview

This component computes joint velocities and accelerations from joint positions

<table>
<tr><th>implementation_id</th><td>HGcontroller</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>qIn</td><td>RTC::TimedDoubleSeq</td><td>[rad] or [m]</td><td>joint positions</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] or [m]</td><td>joint positions</td></tr>
<tr><td>dqOut</td><td>RTC::TimedDoubleSeq</td><td>[rad/s] or [m/s]</td><td>joint velocities</td></tr>
<tr><td>ddqOut</td><td>RTC::TimedDoubleSeq</td><td>[rad/s^2] or [m/s^2]</td><td>joint accelerations</td></tr>
</table>

\section serviceports Service Ports

\subsection provider Service Providers

N/A

\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>
</table>

\section conf Configuration File

<table>
<tr><th>key</th><th>type</th><th>unit</th><th>description</th></tr>
<tr><td>dt</td><td>double</td><td>[s]</td><td>sampling time</td></tr>
</table>

 */
