Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

source/RobotAPI/core/RobotStatechartContext.cpp

@@ -44,7 +44,7 @@ namespace armarx
 
         kinematicUnitObserverName = getProperty<std::string>("KinematicUnitObserverName").getValue();
 
-
+        usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
         usingProxy("RobotStateComponent");
         usingProxy(kinematicUnitObserverName);
     }

source/RobotAPI/motioncontrol/MotionControl.cpp

@@ -173,7 +173,7 @@ void MoveJointsVelocityControl::onEnter()
     for(int i=0; i<jointNames->getSize(); i++)
     {
         targetJointVelocities[jointNames->getVariant(i)->getString()] = targetVelocitiesValues->getVariant(i)->getFloat();
-        ARMARX_VERBOSE << "setting joint angle for joint '" << jointNames->getVariant(i)->getString() << "' to " << targetVelocitiesValues->getVariant(i)->getFloat() << std::endl;
+        ARMARX_VERBOSE << "setting joint velocity for joint '" << jointNames->getVariant(i)->getString() << "' to " << targetVelocitiesValues->getVariant(i)->getFloat() << std::endl;
     }
     // TODO: Set Max Velocities
 

source/RobotAPI/motioncontrol/MotionControl.h

@@ -145,7 +145,7 @@ namespace MotionControl
 
     /**
     *  \ingroup MotionControl
-    *   Move the joints of a kinematic chain to the desired values using velocity control.
+    *   Set the velocities of the joints of a kinematic chain.
     *   \param jointNames the names of the joints to be moved
     *   \param targetJointVelocities the desired joint velocities
     *   \param targetJointVelocityTolerance tolerance defining how precisely the joint velocity has to be reached