{"action":"created","issue":{"url":"https://api.github.com/repos/robotology/yarp/issues/674","repository_url":"https://api.github.com/repos/robotology/yarp","labels_url":"https://api.github.com/repos/robotology/yarp/issues/674/labels{/name}","comments_url":"https://api.github.com/repos/robotology/yarp/issues/674/comments","events_url":"https://api.github.com/repos/robotology/yarp/issues/674/events","html_url":"https://github.com/robotology/yarp/issues/674","id":131329979,"number":674,"title":"add velocity controller with additional position reference","user":{"login":"kjyv","id":12260,"avatar_url":"https://avatars.githubusercontent.com/u/12260?v=3","gravatar_id":"","url":"https://api.github.com/users/kjyv","html_url":"https://github.com/kjyv","followers_url":"https://api.github.com/users/kjyv/followers","following_url":"https://api.github.com/users/kjyv/following{/other_user}","gists_url":"https://api.github.com/users/kjyv/gists{/gist_id}","starred_url":"https://api.github.com/users/kjyv/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/kjyv/subscriptions","organizations_url":"https://api.github.com/users/kjyv/orgs","repos_url":"https://api.github.com/users/kjyv/repos","events_url":"https://api.github.com/users/kjyv/events{/privacy}","received_events_url":"https://api.github.com/users/kjyv/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":13,"created_at":"2016-02-04T12:21:37Z","updated_at":"2016-02-04T14:58:16Z","closed_at":"2016-02-04T13:55:02Z","body":"Hey,\r\n\r\nIn order to create smooth trajectories for inertia parameter identification, I'd like to use a velocity controller which also has position input, basically a p-pi cascaded controller. The existing position or velocity controllers each have drawbacks for tracking a trajectory with a velocity profile. I figure from the source that since controllers are implemented in YARP directly, I'd have to add such an implementation next to the existing controllers. Would that be the preferred way?"},"comment":{"url":"https://api.github.com/repos/robotology/yarp/issues/comments/179882750","html_url":"https://github.com/robotology/yarp/issues/674#issuecomment-179882750","issue_url":"https://api.github.com/repos/robotology/yarp/issues/674","id":179882750,"user":{"login":"pattacini","id":3738070,"avatar_url":"https://avatars.githubusercontent.com/u/3738070?v=3","gravatar_id":"","url":"https://api.github.com/users/pattacini","html_url":"https://github.com/pattacini","followers_url":"https://api.github.com/users/pattacini/followers","following_url":"https://api.github.com/users/pattacini/following{/other_user}","gists_url":"https://api.github.com/users/pattacini/gists{/gist_id}","starred_url":"https://api.github.com/users/pattacini/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/pattacini/subscriptions","organizations_url":"https://api.github.com/users/pattacini/orgs","repos_url":"https://api.github.com/users/pattacini/repos","events_url":"https://api.github.com/users/pattacini/events{/privacy}","received_events_url":"https://api.github.com/users/pattacini/received_events","type":"User","site_admin":false},"created_at":"2016-02-04T14:58:16Z","updated_at":"2016-02-04T14:58:16Z","body":"The beauty of the **`direct mode`** is right that you can send fresh set-points each step (a rate of `100 Hz` should be sufficient). It has been deviced for this specific goal indeed."}}