Merge branch 'master' of gitlab.com:ArmarX/RobotAPI

source/RobotAPI/interface/units/RobotUnit/NJointTaskSpaceDMPController.ice

@@ -340,6 +340,7 @@ module armarx
         void resetDMP();
         void stopDMP();
         void resumeDMP();
+        void removeAllViaPoints();
 
         void setMPWeights(DoubleSeqSeq weights);
         DoubleSeqSeq getMPWeights();

source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.cpp

@@ -575,6 +575,12 @@ namespace armarx
         return resvec;
     }
 
+    void NJointTaskSpaceImpedanceDMPController::removeAllViaPoints(const Ice::Current&)
+    {
+        LockGuardType guard {controllerMutex};
+        ARMARX_INFO << "setting via points ";
+        dmpCtrl->removeAllViaPoints();
+    }
 
 
 }

source/RobotAPI/libraries/RobotAPINJointControllers/DMPController/NJointTaskSpaceImpedanceDMPController.h

@@ -74,6 +74,8 @@ namespace armarx
         void setMPWeights(const DoubleSeqSeq& weights, const Ice::Current&);
         DoubleSeqSeq getMPWeights(const Ice::Current&);
 
+        void removeAllViaPoints(const Ice::Current&) override;
+
     protected:
         virtual void onPublish(const SensorAndControl&, const DebugDrawerInterfacePrx&, const DebugObserverInterfacePrx&);