From ee2f1ee9bd254a7572b8f52e5f30890e8dcc80b1 Mon Sep 17 00:00:00 2001
From: armar-user <armar6@kit>
Date: Mon, 25 Jul 2022 14:45:19 +0200
Subject: [PATCH] rt controller: logging

---
 .../platform_controller/PlatformTrajectoryController.cpp         | 1 +
 1 file changed, 1 insertion(+)

diff --git a/source/armarx/navigation/platform_controller/PlatformTrajectoryController.cpp b/source/armarx/navigation/platform_controller/PlatformTrajectoryController.cpp
index a95f6d38..b5da2a90 100644
--- a/source/armarx/navigation/platform_controller/PlatformTrajectoryController.cpp
+++ b/source/armarx/navigation/platform_controller/PlatformTrajectoryController.cpp
@@ -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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