asd

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

@@ -92,10 +92,20 @@ namespace armarx
                               rtGetControlStruct().velocityY,
                               rtGetControlStruct().velocityRotation);
 
-            Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
-            target->velocityX = result(0);
-            target->velocityY = result(1);
-            target->velocityRotation = result(2);
+            if (x == Eigen::Vector3f::Zero())
+            {
+                target->velocityX = 0;
+                target->velocityY = 0;
+                target->velocityRotation = 0;
+            }
+            else
+            {
+
+                Eigen::VectorXf result = ramp.update(x, timeSinceLastIteration.toSecondsDouble());
+                target->velocityX = result(0);
+                target->velocityY = result(1);
+                target->velocityRotation = result(2);
+            }
         }
     }
 

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp

@@ -502,8 +502,10 @@ namespace armarx::RobotUnitModule
         }
         else
         {
-            ARMARX_ERROR << "Invalid Platform velocity controller specified "
-                         << ""; //platformControllerType;
+            ARMARX_ERROR << "Invalid Platform velocity controller specified '"
+                         << NJointHolonomicPlatformVelocityControllerTypesNames.to_name(
+                                platformControllerType)
+                         << "'";
         }
 
         NJointHolonomicPlatformRelativePositionControllerConfigPtr configRelativePositionCtrlCfg =