Merge branch 'new_hardwareconfig' into 'master'

Resolve "New Hardwareconfig"

Closes #87

See merge request ArmarX/RobotAPI!229

source/RobotAPI/components/units/RobotUnit/BasicControllers.h

@@ -27,7 +27,6 @@
 #include <ArmarXCore/core/util/algorithm.h>
 #include <RobotAPI/libraries/core/math/MathUtils.h>
 #include <RobotAPI/libraries/core/PIDController.h>
-#include <ArmarXCore/core/rapidxml/wrapper/DefaultRapidXmlReader.h>
 // #define DEBUG_POS_CTRL
 #ifdef DEBUG_POS_CTRL
 #include <boost/circular_buffer.hpp>
@@ -203,20 +202,6 @@ namespace armarx
     {
     public:
         RampedAccelerationVelocityControllerConfiguration() = default;
-        static RampedAccelerationVelocityControllerConfigurationPtr CreateFromXml(DefaultRapidXmlReaderNode node)
-        {
-            RampedAccelerationVelocityControllerConfigurationPtr config(new RampedAccelerationVelocityControllerConfiguration());
-            FillFromXml(*config, node);
-            return config;
-        }
-        static void FillFromXml(RampedAccelerationVelocityControllerConfiguration& config, DefaultRapidXmlReaderNode node)
-        {
-            config.maxVelocityRad = node.first_node("maxVelocityRad").value_as_float();
-            config.maxDecelerationRad = node.first_node("maxDecelerationRad").value_as_float();
-            config.jerk = node.first_node("jerk").value_as_float();
-            config.maxDt = node.first_node("maxDt").value_as_float();
-            config.directSetVLimit = node.first_node("directSetVLimit").value_as_float();
-        }
 
         float maxVelocityRad;
         float maxDecelerationRad;

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerBase.h

@@ -23,6 +23,7 @@
 #pragma once
 
 #include <RobotAPI/interface/units/RobotUnit/NJointController.h>
+#include <RobotAPI/components/units/RobotUnit/RobotUnit.h>
 
 #include <ArmarXCore/core/ManagedIceObject.h>
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h> // for ARMARX_CHECK