update NJointCartesianWaypointController

- add setWaypointAx to access the controller from python

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

@@ -312,6 +312,19 @@ namespace armarx
         _tripBufWpCtrl.commitWrite();
         ARMARX_IMPORTANT << "set new waypoint\n" << wp;
     }
+    void NJointCartesianWaypointController::setWaypointAx(const Ice::FloatSeq& data, const Ice::Current&)
+    {
+        Eigen::Matrix4f wp(data.data());
+        std::lock_guard g{_tripBufWpCtrlMut};
+        auto& w = _tripBufWpCtrl.getWriteBuffer();
+        w.wpsUpdated = true;
+        w.wps.clear();
+        w.wps.emplace_back(wp);
+        _tripBufWpCtrl.commitWrite();
+        ARMARX_IMPORTANT << "set new waypoint\n" << wp;
+    }
+
+
     void NJointCartesianWaypointController::setConfigAndWaypoints(const NJointCartesianWaypointControllerRuntimeConfig& cfg,
             const std::vector<Eigen::Matrix4f>& wps,
             const Ice::Current&)

source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointCartesianWaypointController.h

@@ -55,6 +55,7 @@ namespace armarx
 
         void setConfig(const NJointCartesianWaypointControllerRuntimeConfig& cfg, const Ice::Current& = Ice::emptyCurrent) override;
         void setWaypoints(const std::vector<Eigen::Matrix4f>& wps, const Ice::Current& = Ice::emptyCurrent) override;
+        void setWaypointAx(const Ice::FloatSeq& data, const Ice::Current& = Ice::emptyCurrent) override;
         void setWaypoint(const Eigen::Matrix4f& wp, const Ice::Current& = Ice::emptyCurrent) override;
         void setConfigAndWaypoints(const NJointCartesianWaypointControllerRuntimeConfig& cfg, const std::vector<Eigen::Matrix4f>& wps, const Ice::Current& = Ice::emptyCurrent) override;
         void setConfigAndWaypoint(const NJointCartesianWaypointControllerRuntimeConfig& cfg, const Eigen::Matrix4f& wp, const Ice::Current& = Ice::emptyCurrent) override;

source/RobotAPI/interface/units/RobotUnit/NJointCartesianWaypointController.ice

@@ -56,6 +56,7 @@ module armarx
         void setConfig(NJointCartesianWaypointControllerRuntimeConfig cfg);
         void setWaypoints(Eigen::Matrix4fSeq wps);
         void setWaypoint(Eigen::Matrix4f wp);
+        void setWaypointAx(Ice::FloatSeq wp);
         void setConfigAndWaypoints(NJointCartesianWaypointControllerRuntimeConfig cfg, Eigen::Matrix4fSeq wps);
         void setConfigAndWaypoint(NJointCartesianWaypointControllerRuntimeConfig cfg, Eigen::Matrix4f wp);