added simple pid controller sanity test

source/RobotAPI/libraries/core/test/CMakeLists.txt

 set(LIBS ${LIBS} RobotAPICore )
 
 armarx_add_test(TrajectoryTest TrajectoryTest.cpp "${LIBS}")
+armarx_add_test(PIDControllerTest PIDControllerTest.cpp "${LIBS}")
 

source/RobotAPI/libraries/core/test/PIDControllerTest.cpp

+/*
+* This file is part of ArmarX.
+*
+* ArmarX is free software; you can redistribute it and/or modify
+* it under the terms of the GNU General Public License version 2 as
+* published by the Free Software Foundation.
+*
+* ArmarX is distributed in the hope that it will be useful, but
+* WITHOUT ANY WARRANTY; without even the implied warranty of
+* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+* GNU General Public License for more details.
+*
+* You should have received a copy of the GNU General Public License
+* along with this program. If not, see <http://www.gnu.org/licenses/>.
+*
+* @package    ArmarX::RobotAPI::Test
+* @author     Nils Adermann (naderman at naderman dot de)
+* @date       2010
+* @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+*             GNU General Public License
+*/
+
+#define BOOST_TEST_MODULE RobotAPI::PIDController::Test
+#define ARMARX_BOOST_TEST
+#include <RobotAPI/Test.h>
+#include <ArmarXCore/core/test/IceTestHelper.h>
+#include <ArmarXCore/util/json/JSONObject.h>
+#include "../PIDController.h"
+using namespace armarx;
+
+
+BOOST_AUTO_TEST_CASE(PIDControllerTest)
+{
+    PIDController c(1, 0, 0, 0.1, 0.1);
+    c.update(0.1, 0, 1);
+    ARMARX_INFO << "velocity: " << c.getControlValue();
+    BOOST_CHECK_LE(c.getControlValue(), 0.1);
+    BOOST_CHECK_LE(c.controlValueDerivation, 0.11);
+
+}
+