Improve armar7 platform movement

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

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::ArmarXObjects::NJointHolonomicPlatformUnitVelocityPassThroughController
+ * @author     Raphael Grimm ( raphael dot grimm at kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "NJointHolonomicPlatformVelocityControllerInterface.h"
+
+#include <ArmarXCore/core/exceptions/local/ExpressionException.h>
+
+#include <RobotAPI/components/units/RobotUnit/NJointControllers/NJointControllerRegistry.h>
+
+namespace armarx
+{
+    NJointHolonomicPlatformVelocityControllerInterface::
+        NJointHolonomicPlatformVelocityControllerInterface() :
+        maxCommandDelay(IceUtil::Time::milliSeconds(500))
+    {
+    }
+
+    void
+    NJointHolonomicPlatformVelocityControllerInterface::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
+    NJointHolonomicPlatformVelocityControllerInterface::getMaxCommandDelay() const
+    {
+        return maxCommandDelay;
+    }
+
+    void
+    NJointHolonomicPlatformVelocityControllerInterface::setMaxCommandDelay(
+        const IceUtil::Time& value)
+    {
+        maxCommandDelay = value;
+    }
+
+} // namespace armarx