How are derivatives calculated?

[AndyZe]

I'm mostly just curious how derivatives are calculated. Is it backward finite difference, central finite difference, or something else?

[pantor]

Which derivatives are you referring to?

[AndyZe]

I'm not sure, I just assumed you were calculating vel/accel/jerk from position, somewhere

[pantor]

We don't calculate derivatives explicitly during run-time (in the Community version). In general, all equations are calculated analytically beforehand.