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Improve armar7 platform movement

Merged Improve armar7 platform movement
feature/improve-armar7-platform-movement into master
Merged Tobias Gröger requested to merge feature/improve-armar7-platform-movement into master
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source/RobotAPI/components/units/RobotUnit/NJointControllers/NJointHolonomicPlatformVelocityControllerWithRamp.cpp
+ 6
− 5
@@ -153,11 +153,12 @@ namespace armarx
{
// if (state.norm() >= oldState.norm())
// {
ARMARX_RT_LOGF_IMPORTANT("Target %d %d %d", target(0), target(1), target(2));
ARMARX_RT_LOGF_IMPORTANT("OStte %d %d %d", oldState(0), oldState(1), oldState(2));
ARMARX_RT_LOGF_IMPORTANT("State %d %d %d", state(0), state(1), state(2));
ARMARX_RT_LOGF_IMPORTANT("Delta %d %d %d", delta(0), delta(1), delta(2));
ARMARX_RT_LOGF_IMPORTANT("Factor %d", factor);
ARMARX_RT_LOGF_IMPORTANT("Target %.04f %.04f %.04f", target(0), target(1), target(2));
ARMARX_RT_LOGF_IMPORTANT(
"OStte %.04f %.04f %.04f", oldState(0), oldState(1), oldState(2));
ARMARX_RT_LOGF_IMPORTANT("State %.04f %.04f %.04f", state(0), state(1), state(2));
ARMARX_RT_LOGF_IMPORTANT("Delta %.04f %.04f %.04f", delta(0), delta(1), delta(2));
ARMARX_RT_LOGF_IMPORTANT("Factor %.04f", factor);
if (state.norm() > oldState.norm())
{
ARMARX_RT_LOGF_IMPORTANT("!!!!NORM INVALID!!!!");