Merge remote-tracking branch 'origin/master' into feature/arviz_scoped_client

source/RobotAPI/components/ArViz/Client/Elements.h

@@ -122,6 +122,13 @@ namespace armarx::viz
         )
             : Box(name, b)
         {}
+
+        Box(std::string const& id)
+            : ElementOps(id)
+        {
+            pose(Eigen::Matrix4f::Identity());
+        }
+
     };
 
 

source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.cpp

@@ -57,7 +57,7 @@ namespace armarx
         controller->activateController();
     }
 
-    void VelocityControllerHelper::setTargetVelocity(const Eigen::VectorXf& cv)
+    void VelocityControllerHelper::setTargetVelocity(const Eigen::Vector6f& cv)
     {
         controller->setTargetVelocity(cv(0), cv(1), cv(2), cv(3), cv(4), cv(5));
     }

source/RobotAPI/libraries/RobotStatechartHelpers/VelocityControllerHelper.h

@@ -43,7 +43,7 @@ namespace armarx
 
         void init();
 
-        void setTargetVelocity(const Eigen::VectorXf& cv);
+        void setTargetVelocity(const Eigen::Vector6f& cv);
 
         void setNullSpaceControl(bool enabled);
 

source/RobotAPI/libraries/armem/util/util.h

@@ -22,10 +22,11 @@
 
 #pragma once
 
-#include "ArmarXCore/core/logging/Logging.h"
 #include <vector>
 #include <optional>
 
+#include "ArmarXCore/core/logging/Logging.h"
+
 #include <RobotAPI/libraries/armem/core/workingmemory/Entity.h>
 #include <RobotAPI/libraries/armem/core/workingmemory/EntityInstance.h>
 #include <RobotAPI/libraries/aron/core/codegenerator/codeWriter/cpp/AronCppClass.h>

source/RobotAPI/libraries/core/CartesianVelocityControllerWithRamp.h

@@ -49,7 +49,7 @@ namespace armarx
         CartesianVelocityControllerWithRamp(CartesianVelocityControllerWithRamp&&) = default;
         CartesianVelocityControllerWithRamp& operator=(CartesianVelocityControllerWithRamp&&) = default;
 
-        [[deprecated("compued null space velocity does not match pseudo inverse svd method in simox. never use this function.")]]
+        [[deprecated("computed null space velocity does not match pseudo inverse svd method in simox. never use this function.")]]
         void setCurrentJointVelocity(const Eigen::Ref<const Eigen::VectorXf>& currentJointVelocity);
 
         void switchMode(const Eigen::VectorXf& currentJointVelocity, VirtualRobot::IKSolver::CartesianSelection mode);