edited the level 1 holonomic platform velocity pass through controller to be...

edited the level 1 holonomic platform velocity pass through controller to be used with the real platform

source/RobotAPI/interface/libraries/RTRobotUnit/LVL1Controllers/LVL1HolonomicPlatformVelocityPassThroughControllerConfig.ice

@@ -35,5 +35,10 @@ module armarx
         float initialVelocityY;
         float initialVelocityRotation;
     };
+
+    interface LVL1HolonomicPlatformVelocityPassThroughControllerInterface extends LVL1ControllerInterface
+    {
+        idempotent void setVelocites(float velocityX, float velocityY, float velocityRotation);
+    };
 };
 #endif

source/RobotAPI/libraries/RTRobotUnit/LVL1Controllers/LVL1HolonomicPlatformVelocityPassThroughController.cpp

@@ -51,7 +51,9 @@ void LVL1HolonomicPlatformVelocityPassThroughController::rtRun(const IceUtil::Ti
     target->velocityRotation = rtGetControlStruct().velocityRotation;
 }
 
-void LVL1HolonomicPlatformVelocityPassThroughController::setVelocites(float velocityX, float velocityY, float velocityRotation)
+
+void LVL1HolonomicPlatformVelocityPassThroughController::setVelocites(float velocityX, float velocityY,
+        float velocityRotation, const Ice::Current&)
 {
     LockGuardType guard {controlDataMutex};
     getWriterControlStruct().velocityX        = velocityX;
@@ -59,3 +61,7 @@ void LVL1HolonomicPlatformVelocityPassThroughController::setVelocites(float velo
     getWriterControlStruct().velocityRotation = velocityRotation;
     writeControlStruct();
 }
+
+
+LVL1ControllerRegistration<LVL1HolonomicPlatformVelocityPassThroughController>
+registrationLVL1HolonomicPlatformVelocityPassThroughController("LVL1HolonomicPlatformVelocityPassThroughController");

source/RobotAPI/libraries/RTRobotUnit/LVL1Controllers/LVL1HolonomicPlatformVelocityPassThroughController.h

@@ -25,6 +25,7 @@
 
 #include "LVL1Controller.h"
 #include "../Targets/HolonomicPlatformVelocityTarget.h"
+#include <RobotAPI/interface/libraries/RTRobotUnit/LVL1Controllers/LVL1HolonomicPlatformVelocityPassThroughControllerConfig.h>
 
 namespace armarx
 {
@@ -36,7 +37,8 @@ namespace armarx
     };
 
     class LVL1HolonomicPlatformVelocityPassThroughController:
-        virtual public LVL1ControllerWithTripleBuffer<LVL1HolonomicPlatformVelocityPassThroughControllerControlData>
+        virtual public LVL1ControllerWithTripleBuffer<LVL1HolonomicPlatformVelocityPassThroughControllerControlData>,
+        virtual public LVL1HolonomicPlatformVelocityPassThroughControllerInterface
     {
     public:
         LVL1HolonomicPlatformVelocityPassThroughController(LVL1ControllerDataProviderInterfacePtr prov, LVL1ControllerConfigPtr config);
@@ -44,7 +46,7 @@ namespace armarx
         virtual void rtRun(const IceUtil::Time&, const IceUtil::Time&) override;
 
         //for the platform unit
-        virtual void setVelocites(float velocityX, float velocityY, float velocityRotation);
+        virtual void setVelocites(float velocityX, float velocityY, float velocityRotation, const Ice::Current& = GlobalIceCurrent) override;
 
         //ice interface
         virtual std::string getClassName(const Ice::Current& = GlobalIceCurrent) const override