Improve armar7 platform movement

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

@@ -145,7 +145,24 @@ namespace armarx
             throw LocalException("Error factor negative!");
         }
 
+        Eigen::Vector3f oldState = state;
         state += delta / factor;
+
+
+        if (target == Eigen::Vector3f(0, 0, 0))
+        {
+            if (state.norm() >= oldState.norm())
+            {
+                std::cout << "Target:\n"
+                          << target << "\nstate:\n"
+                          << state << "\noldst:\n"
+                          << oldState << "\ndelta:\n"
+                          << delta << "\nfactor: " << factor << "\n";
+
+                //                throw LocalException("haeee");
+            }
+        }
+
         return state;
     }