change LVL1HolonomicPlatformUnitVelocityPassThroughController to take a config...

change LVL1HolonomicPlatformUnitVelocityPassThroughController to take a config of its specified type

source/RobotAPI/components/units/RobotUnit/LVL1Controllers/LVL1HolonomicPlatformUnitVelocityPassThroughController.cpp

@@ -26,11 +26,11 @@
 
 using namespace armarx;
 
-LVL1HolonomicPlatformUnitVelocityPassThroughController::LVL1HolonomicPlatformUnitVelocityPassThroughController(LVL1ControllerDescriptionProviderInterfacePtr prov, LVL1ControllerConfigPtr config, const VirtualRobot::RobotPtr&)
+LVL1HolonomicPlatformUnitVelocityPassThroughController::LVL1HolonomicPlatformUnitVelocityPassThroughController(
+    LVL1ControllerDescriptionProviderInterfacePtr prov,
+    LVL1HolonomicPlatformUnitVelocityPassThroughControllerConfigPtr
+    cfg, const VirtualRobot::RobotPtr&)
 {
-    LVL1HolonomicPlatformUnitVelocityPassThroughControllerConfigPtr cfg = LVL1HolonomicPlatformUnitVelocityPassThroughControllerConfigPtr::dynamicCast(config);
-    ARMARX_CHECK_EXPRESSION_W_HINT(cfg, "The provided config has the wrong type! The type is " << config->ice_id());
-
     target = prov->getControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)->asA<ControlTargetHolonomicPlatformVelocity>();
     ARMARX_CHECK_EXPRESSION_W_HINT(target, "The actuator " << cfg->platformName << " has no control mode " << ControlModes::HolonomicPlatformVelocity);
 

source/RobotAPI/components/units/RobotUnit/LVL1Controllers/LVL1HolonomicPlatformUnitVelocityPassThroughController.h

@@ -56,7 +56,12 @@ namespace armarx
         virtual public LVL1ControllerWithTripleBuffer<LVL1HolonomicPlatformUnitVelocityPassThroughControllerControlData>
     {
     public:
-        LVL1HolonomicPlatformUnitVelocityPassThroughController(LVL1ControllerDescriptionProviderInterfacePtr prov, LVL1ControllerConfigPtr config, const VirtualRobot::RobotPtr&);
+        using ConfigPtrT = LVL1HolonomicPlatformUnitVelocityPassThroughControllerConfigPtr;
+
+        LVL1HolonomicPlatformUnitVelocityPassThroughController(
+            LVL1ControllerDescriptionProviderInterfacePtr prov,
+            LVL1HolonomicPlatformUnitVelocityPassThroughControllerConfigPtr config,
+            const VirtualRobot::RobotPtr&);
 
         virtual void rtRun(const IceUtil::Time&, const IceUtil::Time&) override;