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

* 'master' of https://i61wiki.itec.uka.de/git/robot-api:
  ensured correct waiting behaviour on request and release
  Adjusted gitignore to new versions of qtcreator

Conflicts:
	source/RobotAPI/components/units/TCPControlUnit.cpp

.gitignore

@@ -17,7 +17,7 @@ source/*/Test.h
 .DS_Store
 CMakeFiles
 CMakeCache.txt
-CMakeLists.txt.user
+CMakeLists.txt.user*
 
 *.o
 *.os

source/RobotAPI/components/units/TCPControlUnit.cpp

@@ -143,12 +143,15 @@ namespace armarx
             ARMARX_VERBOSE << "Setting new Velocity for " << nodeSetName << " in frame " << translationVelocity->frame << ":\n" << FramedVector3Ptr::dynamicCast(translationVelocity)->toEigen();
         if(orientationVelocityRPY)
             ARMARX_VERBOSE << "Orientation Velo in frame " << orientationVelocityRPY->frame << ": \n" << FramedVector3Ptr::dynamicCast(orientationVelocityRPY)->toEigen();
+
         TCPVelocityData data;
         data.nodeSetName = nodeSetName;
         data.translationVelocity = FramedVector3Ptr::dynamicCast(translationVelocity);
         data.orientationVelocity = FramedVector3Ptr::dynamicCast(orientationVelocityRPY);
         if(tcpName.empty())
+        {
             data.tcpName = jointExistenceCheckRobot->getRobotNodeSet(nodeSetName)->getTCP()->getName();
+        }
         else
         {
             ARMARX_CHECK_EXPRESSION_W_HINT(jointExistenceCheckRobot->hasRobotNode(tcpName), "The robot does not have the node: " + tcpName);
@@ -156,11 +159,6 @@ namespace armarx
             data.tcpName = tcpName;
         }
         tcpVelocitiesMap[data.tcpName] = data;
-//        if(translationVelocity)
-//            targetTranslationVelocities[nodeSetName] = translationVelocity;
-//        if(orientationVelocityRPY)
-//            targetOrientationVelocitiesRPY[nodeSetName] = orientationVelocityRPY;
-
     }
 
 
@@ -199,7 +197,10 @@ namespace armarx
         ScopedLock lock(dataMutex);
         requested = true;
         if(execTask)
+        {
+            while (calculationRunning) IceUtil::ThreadControl::yield();
             execTask->stop();
+        }
         lastReportTime = IceUtil::Time::now();
         execTask = new PeriodicTask<TCPControlUnit>(this, &TCPControlUnit::periodicExec, cycleTime, false, "TCPVelocityCalculator");
         execTask->start();
@@ -258,7 +259,7 @@ namespace armarx
 
         if (requested)
         {
-            IceUtil::Time startTime = IceUtil::Time::now();
+            //IceUtil::Time startTime = IceUtil::Time::now();
             calcAndSetVelocities();
             ARMARX_INFO  << deactivateSpam(10) << "Time for calcAndSetVelocities(): " << (IceUtil::Time::now()-startTime).toMilliSeconds() << " ms";
         }