Improve armar7 platform movement

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

@@ -149,15 +149,16 @@ namespace armarx
         state += delta / factor;
 
 
-        if (target == Eigen::Vector3f(0, 0, 0))
+        if (target == Eigen::Vector3f::Zero() && state != Eigen::Vector3f::Zero())
         {
             //            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!!!!");