pid controller: added missing allocation of vectors

source/RobotAPI/libraries/core/MultiDimPIDController.h

@@ -71,6 +71,12 @@ namespace armarx
         void update(const double deltaSec, const PIDVectorX& measuredValue, const PIDVectorX& targetValue)
         {
             ScopedRecursiveLockPtr lock = getLock();
+            if (stackAllocations.zeroVec.rows() == 0)
+            {
+                preallocate(measuredValue.rows());
+            }
+            ARMARX_CHECK_EQUAL(measuredValue.rows(), targetValue.rows());
+            ARMARX_CHECK_EQUAL(measuredValue.rows(), stackAllocations.zeroVec.rows());
             processValue = measuredValue;
             target = targetValue;
 
@@ -96,7 +102,7 @@ namespace armarx
             if (!firstRun)
             {
                 integral += error * deltaSec;
-                integral = std::min(integral,maxIntegral);
+                integral = std::min(integral, maxIntegral);
                 if (deltaSec > 0.0)
                 {
                     derivative = (error - previousError) / deltaSec;