From ccf676a4b3014c6041b0eca67c372cea67474066 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias.groeger@student.kit.edu>
Date: Mon, 29 Apr 2024 22:18:39 +0200
Subject: [PATCH] T
---
.../NJointHolonomicPlatformVelocityControllerWithRamp.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
index d19f55109..ea3da74f6 100644
--- a/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+++ b/source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
@@ -161,6 +161,10 @@ namespace armarx
<< delta << "\nfactor: " << factor << "\n====\n";
std::string s = ss.str();
ARMARX_RT_LOGF_IMPORTANT("%s", s.c_str());
+ if (state.norm() > oldState.norm())
+ {
+ ARMARX_RT_LOGF_IMPORTANT("!!!!NORM INVALID!!!!");
+ }
// throw LocalException("haeee");
// }
--
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