fkanehiro/hrpsys-base — pull request #254 by orikuma (2014-07-12 08:48:34+00:00)
Title: Supress transition_dq by vlimit in robot model in recovery from torque control

In old implementation, angle velocity might exceed its limit because transition_dq, which is for recovery from torque controlled dq to normal joint anlge position was determined by only transition time.
Therefore, it is necessary to supress transition_dq by min/max dq which is calculated from vlimit in model.