PlatformUnitGuiPlugin now stopps the platform when a joystick control is released

source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.cpp

@@ -104,6 +104,8 @@ void PlatformUnitWidget::connectSlots()
 {
     connect(ui.buttonMoveToPosition, SIGNAL(clicked()), this, SLOT(moveTo()));
     connect(&ctrlEvaluationTimer, SIGNAL(timeout()), this, SLOT(controlTimerTick()));
+    connect(speedCtrl,SIGNAL(released()), this, SLOT(stopPlatform()));
+    connect(rotaCtrl, SIGNAL(released()), this, SLOT(stopPlatform()));
 }
 
 void PlatformUnitWidget::moveTo()
@@ -137,6 +139,11 @@ void PlatformUnitWidget::reportPlatformVelocity(::Ice::Float currentPlatformVelo
 
 }
 
+void PlatformUnitWidget::stopPlatform()
+{
+    platformUnitProxy->moveRelative(0, 0, 0, 0, 0);
+}
+
 void PlatformUnitWidget::controlTimerTick()
 {
     //speed control cant be tested in the simulator:

source/RobotAPI/gui_plugins/PlatformUnitPlugin/PlatformUnitGuiPlugin.h

@@ -116,8 +116,16 @@ namespace armarx
         Ui::PlatformUnitGuiPlugin ui;
 
     private slots:
+        /**
+          \brief Checks the joystick contol widgets speedCtrl and rotaCtrl and performs a move if necessary.
+            Activated when ctrlEvaluationTimer times out.
+         */
         void controlTimerTick();
 
+	/**
+          \brief Stops the platform
+          */
+        void stopPlatform();
     private:
         std::string platformUnitProxyName;
         std::string platformName;