/**

\page PDcontroller

\section introduction Overview

This component computes joint torques from joint angles.

\subsection pdgain PD gains
PD gains should be specified by pdgain file.
PD file should include <br>
[Pgain_1] [Dgain_1]<br>
...<br>
[Pgain_N] [Dgain_N]<br>
Here, N is the number of joints.

<table>
<tr><th>implementation_id</th><td>PDcontroller</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>angle</td><td>RTC::TimedDoubleSeq</td><td>[rad] or [m]</td><td>Actual joint angles</td></tr>
<tr><td>angleRef</td><td>RTC::TimedDoubleSeq</td><td>[rad] or [m]</td><td>Reference joint angles</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>torque</td><td>RTC::TimedDoubleSeq</td><td>[rad] or [m]</td><td>Reference joint torques</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>
<tr><td>dt</td><td>double</td><td></td><td>0.005</td><td>sampling time</td></tr>
<tr><td>pdgains_sim_file_name</td><td>string</td><td></td><td></td><td>File path for PD gain file.</td></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 of PD control</td></tr>
<tr><td>ref_dt</td><td>double</td><td>[s]</td><td>sampling time of reference angles. If this value is specified, reference joint angles are interpolated internally so that they reach the given values after ref_dt. If this value is not specified, the given reference joint angles are used immediately in the PD control.</td></tr>
<tr><td>model</td><td>std::string</td><td></td><td>URL of a VRML model</td></tr>
<tr><td>pdgains_sim_file_name</td><td>std::string</td><td></td><td>File path for PD gain file.</td></tr>
<tr><td>pdcontrol_tlimit_ratio</td><td>vector</td><td></td><td>Ratio vector for torque limit of PDcontroller outputs. If not specified, 1.0 by default.</td></tr>
</table>

 */
