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Commit ee2f1ee9 authored by armar-user's avatar armar-user
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rt controller: logging

parent 7f6fc1b4
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1 merge request!25RT controller and simplification
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source/armarx/navigation/platform_controller/PlatformTrajectoryController.cpp
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......@@ -127,6 +127,7 @@ namespace armarx::navigation::platform_controller::platform_trajectory
datafields["vx"] = new Variant(rtGetControlStruct().platformVelocityTargets.x);
datafields["vy"] = new Variant(rtGetControlStruct().platformVelocityTargets.y);
datafields["vyaw"] = new Variant(rtGetControlStruct().platformVelocityTargets.yaw);
datafields["trajectory_points"] = new Variant(configBuffer.getUpToDateReadBuffer().targets.trajectory.points().size());
debugObservers->setDebugChannel(
common::ControllerTypeNames.to_name(common::ControllerType::PlatformTrajectory),
......
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