# Conflicts:
#	source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h

extended CartesianVelocityController to consider joint limits

See merge request ArmarX/RobotAPI!43

fixed joint limit check: not only near joint limit is considered a violation but also exceeding the joint limit

extended CartesianVelocityController to consider joint limits and disable the joint limits if the they would run over a joint limit

This reverts commit 0ac3031b.

controller

Revert "VelocityControllerHelper: make use of new robotunit function to remove and delete controllers"

This reverts commit a3e0c32a.

Mirko Wächter authored 6 years ago and Mirko Wächter committed 6 years ago

(cherry picked from commit 6ed9866e)

# Conflicts:
#	source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointTaskSpaceImpedanceController.h

* Const correctness
* Debug output
* Race condition