added approx checks to some observers

source/RobotAPI/components/units/ForceTorqueObserver.cpp

@@ -5,6 +5,7 @@
 #include <Core/observers/checks/ConditionCheckInRange.h>
 #include <Core/observers/checks/ConditionCheckLarger.h>
 #include <Core/observers/checks/ConditionCheckSmaller.h>
+#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
 #include <RobotAPI/libraries/core/checks/ConditionCheckMagnitudeChecks.h>
 #include <RobotAPI/libraries/core/observerfilters/OffsetFilter.h>
 #include <Core/observers/variant/DatafieldRef.h>
@@ -44,6 +45,7 @@ void ForceTorqueObserver::onInitObserver()
     offerConditionCheck("equals", new ConditionCheckEquals());
     offerConditionCheck("smaller", new ConditionCheckSmaller());
     offerConditionCheck("magnitudeinrange", new ConditionCheckMagnitudeInRange());
+    offerConditionCheck("approx", new ConditionCheckEqualsWithTolerance());
     offerConditionCheck("magnitudelarger", new ConditionCheckMagnitudeLarger());
     offerConditionCheck("magnitudesmaller", new ConditionCheckMagnitudeSmaller());
 

source/RobotAPI/components/units/KinematicUnitObserver.cpp

@@ -36,6 +36,7 @@
 #include <VirtualRobot/XML/RobotIO.h>
 #include <VirtualRobot/RobotNodeSet.h>
 #include <VirtualRobot/Nodes/RobotNode.h>
+#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
 
 using namespace armarx;
 
@@ -51,6 +52,7 @@ void KinematicUnitObserver::onInitObserver()
     offerConditionCheck("updated", new ConditionCheckUpdated());
     offerConditionCheck("equals", new ConditionCheckEquals());
     offerConditionCheck("inrange", new ConditionCheckInRange());
+    offerConditionCheck("approx", new ConditionCheckEqualsWithTolerance());
     offerConditionCheck("larger", new ConditionCheckLarger());
     offerConditionCheck("smaller", new ConditionCheckSmaller());
 

source/RobotAPI/components/units/PlatformUnitObserver.cpp

@@ -31,6 +31,7 @@
 #include <Core/observers/checks/ConditionCheckLarger.h>
 #include <Core/observers/checks/ConditionCheckSmaller.h>
 #include <Core/observers/checks/ConditionCheckValid.h>
+#include <Core/observers/checks/ConditionCheckEqualsWithTolerance.h>
 
 
 using namespace armarx;
@@ -49,6 +50,7 @@ void PlatformUnitObserver::onInitObserver()
     offerConditionCheck("updated", new ConditionCheckUpdated());
     offerConditionCheck("equals", new ConditionCheckEquals());
     offerConditionCheck("inrange", new ConditionCheckInRange());
+    offerConditionCheck("approx", new ConditionCheckEqualsWithTolerance());
     offerConditionCheck("larger", new ConditionCheckLarger());
     offerConditionCheck("smaller", new ConditionCheckSmaller());