Fix movement after emergency stop

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

@@ -52,11 +52,19 @@ namespace armarx
     void
     NJointHolonomicPlatformVelocityControllerWithRamp::rtPreActivateController()
     {
+        const float velX = velocitySensor->velocityX;
+        const float velY = velocitySensor->velocityY;
+        const float velRot = velocitySensor->velocityRotation;
+
         // init velocity ramp
         Eigen::VectorXf state(6);
-        state << velocitySensor->velocityX, velocitySensor->velocityY, 0, 0, 0,
-            velocitySensor->velocityRotation;
+        state << velX, velY, 0, 0, 0, velRot;
         ramp.setState(state, VirtualRobot::IKSolver::CartesianSelection::All);
+
+        getWriterControlStruct().velocityX = velX;
+        getWriterControlStruct().velocityY = velY;
+        getWriterControlStruct().velocityRotation = velRot;
+        writeControlStruct();
     }
 
     void