BasicControllerTest broken

The Basic Controller test does not work anymore:

seed = 921357634
starting velocityControlWithAccelerationBoundsTest 
random tests
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_5
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc_random_9
bounds tests
TODO
done velocityControlWithAccelerationBoundsTest 
starting velocityControlWithAccelerationAndPositionBoundsTest 
random tests
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_5
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/velCtrl+acc+pos_random_9
bounds tests
TODO
done velocityControlWithAccelerationAndPositionBoundsTest 
starting positionThroughVelocityControlWithAccelerationBounds 
random tests
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_0
Time[4.38372] violated deceleration bound! vold 0.00669061 / vnew 0.000968257 / dv 0.00572236 / dt 0.000912331 / dec 5.63734 / (targetv 0)
Running 5 test cases...
/home/waechter/armarx/RobotAPI/source/RobotAPI/libraries/RTRobotUnit/test/BasicControllerTest.cpp(295): error in "positionThroughVelocityControlWithAccelerationBoundsTest": check curacc <= dec*1.01 failed [6.27223825 > 5.6937168407440186]
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_5
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc_random_9
bounds tests
TODO
done positionThroughVelocityControlWithAccelerationBounds 
starting positionThroughVelocityControlWithAccelerationAndPositionBounds 
random tests
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_5
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+pos_random_9
bounds tests
TODO
done positionThroughVelocityControlWithAccelerationAndPositionBounds 
starting positionThroughVelocityControlWithAccelerationBoundsAndPeriodicPosition 
random tests (dir=0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_5
Time[2.98222] violated deceleration bound! vold -0.00960116 / vnew -0.000839615 / dv 0.00876155 / dt 0.000919884 / dec 3.20994 / (targetv 0)
/home/waechter/armarx/RobotAPI/source/RobotAPI/libraries/RTRobotUnit/test/BasicControllerTest.cpp(295): error in "positionThroughVelocityControlWithAccelerationBoundsAndPeriodicPositionTest": check curacc <= dec*1.01 failed [9.52461815 > 3.2420388746261599]
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir0_random_9
random tests (dir=1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_5
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir1_random_9
random tests (dir=-1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_0
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_1
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_2
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_3
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_4
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_5
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_6
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_7
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_8
now writing to: /home/waechter/armarx/RobotAPI/build/source/RobotAPI/libraries/RTRobotUnit/test/controller_logfiles/posViaVelCtrl+acc+periodicPos+dir-1_random_9
bounds tests
TODO
done positionThroughVelocityControlWithAccelerationBoundsAndPeriodicPosition 

*** 2 failures detected in test suite "RobotAPI::BasicControllers::Test"```

this was code from a wip branch that was merged by someone into master.
since i currently don't have time to finish this code, i deactivated the testcase with c81b9bb5.

closed