Index: CMakeLists.txt
===================================================================
--- CMakeLists.txt	(revision 732)
+++ CMakeLists.txt	(working copy)
@@ -17,6 +17,7 @@
             rci/dto/JointValues.h
             rci/dto/JointAngles.h
             rci/dto/JointVelocities.h
+            rci/dto/JointAccelerations.h
             rci/dto/JointTorques.h
             rci/dto/JointImpedance.h
             rci/dto/Power.h
@@ -52,6 +53,7 @@
             rci/dto/JointValues.cpp
             rci/dto/JointAngles.cpp
             rci/dto/JointVelocities.cpp
+            rci/dto/JointAccelerations.cpp
             rci/dto/JointTorques.cpp
             rci/dto/JointImpedance.cpp
             rci/dto/Power.cpp
Index: rci/dto/JointAccelerations.cpp
===================================================================
--- rci/dto/JointAccelerations.cpp	(revision 0)
+++ rci/dto/JointAccelerations.cpp	(working copy)
@@ -0,0 +1,106 @@
+/* ============================================================
+ *
+ * This file is a part of RCI project
+ *
+ * Copyright (C) 2015 by Niels Dehio <ndehio at cor-lab dot uni-bielefeld dot de>
+ *
+ * This file may be licensed under the terms of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by:
+ *   CoR-Lab, Research Institute for Cognition and Robotics
+ *     Bielefeld University
+ *
+ * ============================================================ */
+
+#include "JointAccelerations.h"
+
+using namespace std;
+using namespace nemo;
+using namespace cca;
+
+namespace rci {
+
+JointAccelerations::JointAccelerations() :
+        JointValues() {
+}
+
+JointAccelerations::JointAccelerations(RealVector values) :
+        JointValues(values) {
+}
+
+JointAccelerations::JointAccelerations(double value) :
+        JointValues(value) {
+}
+
+std::string JointAccelerations::print() const {
+    ostringstream outstream(ostringstream::out);
+    outstream.precision(3); // Precision when printing double values
+    outstream << "JointAccelerations<";
+    for (unsigned int i = 0; i < this->getDimension(); ++i) {
+        if (i > 0) {
+            outstream << ",";
+        }
+        outstream << this->asDouble(i);
+    }
+    outstream << ">(rad/s^2)" << std::endl;
+    return outstream.str();
+}
+
+JointAccelerationsPtr JointAccelerations::fromValue(double value) {
+    return JointAccelerationsPtr(new JointAccelerations(value));
+}
+
+JointAccelerationsPtr JointAccelerations::fromValues(RealVector values) {
+    return JointAccelerationsPtr(new JointAccelerations(values));
+}
+
+JointAccelerationsPtr JointAccelerations::fromRad_ss(double value) {
+    return JointAccelerations::fromValue(value); // rad/s^2 is default representation
+}
+
+JointAccelerationsPtr JointAccelerations::fromRad_ss(RealVector values) {
+    return JointAccelerations::fromValues(values); // rad/s^2 is default representation
+}
+
+nemo::RealVector JointAccelerations::rad_ssVector() {
+    return this->asDoubleVector();
+}
+
+double JointAccelerations::rad_ss(unsigned int index) {
+    return this->asDouble(index);
+}
+
+JointAccelerationsPtr JointAccelerations::fromDeg_ss(double value) {
+    return JointAccelerations::fromRad_ss(value / 180 * M_PI);
+}
+
+JointAccelerationsPtr JointAccelerations::fromDeg_ss(RealVector values) {
+    Mapping<double, double> degToRad = DegToRad::create();
+    values.transform(degToRad);
+
+    return JointAccelerations::fromRad_ss(values);
+}
+
+nemo::RealVector JointAccelerations::deg_ssVector() {
+    Mapping<double, double> radToDeg = RadToDeg::create();
+
+    return this->_values.map(radToDeg);
+}
+
+double JointAccelerations::deg_ss(unsigned int index) {
+    return this->rad_ss(index) / M_PI * 180;
+}
+
+}
Index: rci/dto/JointAccelerations.h
===================================================================
--- rci/dto/JointAccelerations.h	(revision 0)
+++ rci/dto/JointAccelerations.h	(working copy)
@@ -0,0 +1,159 @@
+/* ============================================================
+ *
+ * This file is a part of RCI project
+ *
+ * Copyright (C) 2015 by Niels Dehio <ndehio at cor-lab dot uni-bielefeld dot de>
+ *
+ * This file may be licensed under the terms of the
+ * GNU Lesser General Public License Version 3 (the ``LGPL''),
+ * or (at your option) any later version.
+ *
+ * Software distributed under the License is distributed
+ * on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
+ * express or implied. See the LGPL for the specific language
+ * governing rights and limitations.
+ *
+ * You should have received a copy of the LGPL along with this
+ * program. If not, go to http://www.gnu.org/licenses/lgpl.html
+ * or write to the Free Software Foundation, Inc.,
+ * 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
+ *
+ * The development of this software was supported by:
+ *   CoR-Lab, Research Institute for Cognition and Robotics
+ *     Bielefeld University
+ *
+ * ============================================================ */
+
+#pragma once
+
+#include <iostream>
+#include <sstream>
+#include <math.h>
+#include <boost/shared_ptr.hpp>
+
+#include "rci/dto/JointValues.h"
+
+namespace rci {
+
+class JointAccelerations;
+typedef boost::shared_ptr<JointAccelerations> JointAccelerationsPtr;
+
+/**
+ * Domain object, representing Joint Accelerations.
+ * Default representation is in radian per second (\f$\frac{rad}{s*s}\f$),
+ * according to the International System of Units (SI).
+ * @ingroup DTO
+ */
+class JointAccelerations: public JointValues {
+
+public:
+    JointAccelerations();
+    JointAccelerations(nemo::RealVector values);
+    JointAccelerations(double value);
+
+    /**
+     * Creates one-dimensional JointAccelerationsPtr from a single double value.
+     * You should not use this method, unless you exactly know what you are
+     * doing. Try to rather use a more specific method.
+     *
+     * @param value
+     *          Initial value.
+     *
+     * @return One-dimensional JointAccelerationsPtr
+     */
+    static JointAccelerationsPtr fromValue(double value);
+
+    /**
+     * Creates a JointAccelerationsPtr from a vector of double values.
+     * You should not use this method, unless you exactly know what you are
+     * doing. Try to rather use a more specific method.
+     *
+     * @param values
+     *          Initial acceleration values.
+     *
+     * @return JointAccelerationsPtr of the size of the given double vector.
+     */
+    static JointAccelerationsPtr fromValues(nemo::RealVector values);
+
+    /**
+     * Creates a one-dimensional JointAccelerationsPtr from a single \f$\frac{rad}{s*s}\f value.
+     *
+     * @param values
+     *          Initial acceleration value in \f$\frac{rad}{s*s}\f$
+     *
+     * @return One-dimensional JointAccelerationsPtr
+     */
+    static JointAccelerationsPtr fromRad_ss(double value);
+
+    /**
+     * Creates a JointAccelerationsPtr from a vector of \f$\frac{rad}{s*s}\f values.
+     *
+     * @param values
+     *          Initial acceleration values in \f$\frac{rad}{s*s}\f$
+     *
+     * @return JointAccelerationsPtr of the size of the given vector.
+     */
+    static JointAccelerationsPtr fromRad_ss(nemo::RealVector values);
+
+    /**
+     * Get all acceleration values as double vector (in \f$\frac{rad}{s*s}\f$).
+     *
+     * @return Double vector (in \f$\frac{rad}{s*s}\f$)
+     */
+    virtual nemo::RealVector rad_ssVector();
+
+    /**
+     * Get single acceleration value in \f$\frac{rad}{s*s}\f.
+     *
+     * @param index
+     *          Index of acceleration value
+     *
+     * @return Single acceleration value in \f$\frac{rad}{s*s}\f$
+     */
+    virtual double rad_ss(unsigned int index);
+
+    /**
+     * Creates a one-dimensional JointAccelerationsPtr from a single
+     * \f$\frac{deg}{s*s}\f$ value.
+     *
+     * @param values
+     *          Initial acceleration value in \f$\frac{deg}{s*s}\f$.
+     *
+     * @return One-dimensional JointAccelerationsPtr
+     */
+    static JointAccelerationsPtr fromDeg_ss(double value);
+
+    /**
+     * Creates a JointAccelerationsPtr from a vector of \f$\frac{rad}{s*s}\f$ values.
+     *
+     * @param values
+     *          Initial acceleration values in \f$\frac{rad}{s*s}\f$.
+     *
+     * @return JointAccelerationsPtr of the size of the given vector.
+     */
+    static JointAccelerationsPtr fromDeg_ss(nemo::RealVector values);
+
+    /**
+     * Get all acceleration values as double vector (in \f$\frac{rad}{s*s}\f$).
+     *
+     * @return Double vector (in \f$\frac{rad}{s*s}\f$)
+     */
+    virtual nemo::RealVector deg_ssVector();
+
+    /**
+     * Get single acceleration value in \f$\frac{rad}{s*s}\f$.
+     *
+     * @param index
+     *          Index of acceleration value
+     *
+     * @return Single acceleration value in \f$\frac{rad}{s*s}\f$
+     */
+
+    virtual double deg_ss(unsigned int index);
+    /**
+     * Print function
+     */
+    virtual std::string print() const;
+};
+
+}