added pd output filter to pwm velocity controller

source/RobotAPI/libraries/KITGripperEtherCAT/KITGripperBasisBoard/JointController/PWMVelocityController.cpp

@@ -23,6 +23,8 @@
  */
 #include "PWMVelocityController.h"
 
+#include <ArmarXCore/observers/filters/rtfilters/AverageFilter.h>
+
 namespace armarx
 {
 
@@ -35,6 +37,7 @@ namespace armarx
         pid.reset(new PIDController(velocityControllerConfigDataPtr->p,
                                     velocityControllerConfigDataPtr->i,
                                     velocityControllerConfigDataPtr->d));
+        pid->pdOutputFilter.reset(new rtfilters::AverageFilter(5));
         pid->maxIntegral = velocityControllerConfigDataPtr->maxIntegral;
         pid->conditionalIntegralErrorTreshold = velocityControllerConfigDataPtr->conditionalIntegralErrorTreshold;
         pid->threadSafe = false;