trajectory controller: avoid memory allocations

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

@@ -61,14 +61,14 @@ namespace armarx
         {
             TrajectoryController& contr = *rtGetControlStruct().trajectoryCtrl;
 
-            auto dimNames = contr.getTraj()->getDimensionNames();
+            const auto& dimNames = contr.getTraj()->getDimensionNames();
             for (size_t i = 0; i < dimNames.size(); i++)
             {
                 const auto& jointName = dimNames.at(i);
-                currentPos(i) = (sensors.count(jointName) == 1) ? sensors[jointName]->position : 0.0f;
+                currentPos(i) = (sensors.count(jointName) == 1) ? sensors.at(jointName)->position : 0.0f;
             }
 
-            auto newVelocities = contr.update(timeSinceLastIteration.toSecondsDouble() * direction, currentPos);
+            auto& newVelocities = contr.update(timeSinceLastIteration.toSecondsDouble() * direction, currentPos);
             currentTimestamp = contr.getCurrentTimestamp();
             finished = (currentTimestamp >= contr.getTraj()->rbegin()->getTimestamp() && direction == 1.0)
                        || (currentTimestamp <= contr.getTraj()->begin()->getTimestamp() && direction == -1.0);