Test

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp

@@ -137,7 +137,7 @@ namespace armarx
         float posFactor = posDelta.norm() / maxPositionAcceleration / dt;
         factor = std::max(factor, posFactor);
 
-        float oriFactor = std::abs(delta(3)) / maxOrientationAcceleration / dt;
+        float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
         factor = std::max(factor, oriFactor);
 
         state += delta / factor;