Added Offset to TrajectoryPlayer

source/RobotAPI/components/units/RobotUnit/Units/TrajectoryControllerSubUnit.h

@@ -99,6 +99,9 @@ namespace armarx
         void reportJointCurrents(const NameValueMap&, Ice::Long, bool, const Ice::Current&) override {}
         void reportJointMotorTemperatures(const NameValueMap&, Ice::Long, bool, const Ice::Current&) override {}
         void reportJointStatuses(const NameStatusMap&, Ice::Long, bool, const Ice::Current&) override {}
+
+        void setOffset(const ::Eigen::Matrix4f&, const ::Ice::Current& = ::Ice::emptyCurrent) override {}
+
         // ManagedIceObject interface
     protected:
         void onInitComponent() override;

source/RobotAPI/interface/components/TrajectoryPlayerInterface.ice

@@ -24,6 +24,8 @@
 
 #include <RobotAPI/interface/core/Trajectory.ice>
 #include <RobotAPI/interface/observers/KinematicUnitObserverInterface.ice>
+#include <ArmarXCore/interface/serialization/Eigen.ice>
+#include <RobotAPI/interface/aron.ice>
 
 module armarx
 {
@@ -43,6 +45,8 @@ module armarx
         bool setJointsInUse(string jointName, bool inUse);
         void enableRobotPoseUnit(bool isRobotPose);
 
+        void setOffset(Eigen::Matrix4f offset);
+
         double getCurrentTime();
         double getEndTime();
         double getTrajEndTime();