deactivated buggy joint limit avoidance

source/RobotAPI/components/units/TCPControlUnit.cpp

@@ -514,17 +514,17 @@ namespace armarx
             }*/
 
             // added by David S
-            const float maxJointLimitCompensationRatio = 0.8;
+            const float maxJointLimitCompensationRatio = 1.0f;
 
-            if (jointLimitCompensation(0) == jointLimitCompensation(0))
-            {
-                if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio * jointDelta.norm())
-                {
-                    jointLimitCompensation = maxJointLimitCompensationRatio * jointDelta.norm() / jointLimitCompensation.norm() * jointLimitCompensation;
-                }
+            //            if (jointLimitCompensation(0) == jointLimitCompensation(0))
+            //            {
+            //                //                if (jointLimitCompensation.norm() > maxJointLimitCompensationRatio * jointDelta.norm())
+            //                //                {
+            //                //                    jointLimitCompensation = maxJointLimitCompensationRatio * jointDelta.norm() / jointLimitCompensation.norm() * jointLimitCompensation;
+            //                //                }
 
-                jointDelta += jointLimitCompensation;
-            }
+            //                jointDelta += jointLimitCompensation;
+            //            }
 
             jointDelta /= (cycleTime * 0.001);
 

source/RobotAPI/components/units/TCPControlUnit.h

@@ -50,7 +50,7 @@ namespace armarx
             defineOptionalProperty<float>("MaxJointVelocity", 30.f / 180 * 3.141, "Maximal joint velocity in rad/sec");
             defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
             defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
-            defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
+            //            defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
             defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
             defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");