Improve armar7 platform movement

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

@@ -32,8 +32,7 @@ namespace armarx
         NJointHolonomicPlatformUnitVelocityPassThroughController(
             RobotUnit* prov,
             NJointHolonomicPlatformUnitVelocityPassThroughControllerConfigPtr cfg,
-            const VirtualRobot::RobotPtr&) :
-        maxCommandDelay(IceUtil::Time::milliSeconds(500))
+            const VirtualRobot::RobotPtr&)
     {
         target = useControlTarget(cfg->platformName, ControlModes::HolonomicPlatformVelocity)
                      ->asA<ControlTargetHolonomicPlatformVelocity>();
@@ -72,32 +71,6 @@ namespace armarx
         }
     }
 
-    void
-    NJointHolonomicPlatformUnitVelocityPassThroughController::setVelocites(float velocityX,
-                                                                           float velocityY,
-                                                                           float velocityRotation)
-    {
-        LockGuardType guard{controlDataMutex};
-        getWriterControlStruct().velocityX = velocityX;
-        getWriterControlStruct().velocityY = velocityY;
-        getWriterControlStruct().velocityRotation = velocityRotation;
-        getWriterControlStruct().commandTimestamp = IceUtil::Time::now();
-        writeControlStruct();
-    }
-
-    IceUtil::Time
-    NJointHolonomicPlatformUnitVelocityPassThroughController::getMaxCommandDelay() const
-    {
-        return maxCommandDelay;
-    }
-
-    void
-    NJointHolonomicPlatformUnitVelocityPassThroughController::setMaxCommandDelay(
-        const IceUtil::Time& value)
-    {
-        maxCommandDelay = value;
-    }
-
     NJointControllerRegistration<NJointHolonomicPlatformUnitVelocityPassThroughController>
         registrationNJointHolonomicPlatformUnitVelocityPassThroughController(
             "NJointHolonomicPlatformUnitVelocityPassThroughController");