Test

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

@@ -140,6 +140,11 @@ namespace armarx
         float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
         factor = std::max(factor, oriFactor);
 
+        if (factor < 0)
+        {
+            throw LocalException("Error factor negative!");
+        }
+
         state += delta / factor;
         return state;
     }