Improve armar7 platform movement

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

@@ -140,12 +140,24 @@ namespace armarx
         float oriFactor = std::abs(delta(2)) / maxOrientationAcceleration / dt;
         factor = std::max(factor, oriFactor);
 
-        if (factor < 0)
+        if (factor < 1)
         {
             throw LocalException("Error factor negative!");
         }
 
+        Eigen::Vector3f oldState = state;
         state += delta / factor;
+
+
+        if (target == Eigen::Vector3f(0, 0, 0))
+        {
+            std::cout << "Tar is zero" << std::endl;
+            if (state.norm() >= oldState.norm())
+            {
+                throw LocalException("haeee");
+            }
+        }
+
         return state;
     }