ObstacleAvoidingPlatformUnit: additional logging

source/RobotAPI/components/units/ObstacleAvoidingPlatformUnit/ObstacleAvoidingPlatformUnit.cpp

@@ -300,15 +300,24 @@ armarx::ObstacleAvoidingPlatformUnit::high_level_control_loop()
             StringVariantBaseMap m;
             m["err_dist"] = new Variant{vels.err_dist};
             m["err_angular_dist"] = new Variant{vels.err_angular_dist};
+
             m["target_global_x"] = new Variant{vels.target_global.x()};
             m["target_global_y"] = new Variant{vels.target_global.y()};
+            m["target_global_abs"] = new Variant{vels.target_global.norm()};
+
             m["target_local_x"] = new Variant{vels.target_local.x()};
             m["target_local_y"] = new Variant{vels.target_local.y()};
+            m["target_local_abs"] = new Variant(vels.target_local.norm());
             m["target_rot"] = new Variant{vels.target_rot};
+
             m["modulated_global_x"] = new Variant{vels.modulated_global.x()};
             m["modulated_global_y"] = new Variant{vels.modulated_global.y()};
+            m["modulated_global_abs"] = new Variant{vels.modulated_global.norm()};
+
             m["modulated_local_x"] = new Variant{vels.modulated_local.x()};
             m["modulated_local_y"] = new Variant{vels.modulated_local.y()};
+            m["modulated_local_abs"] = new Variant{vels.modulated_local.norm()};
+
             setDebugObserverChannel("ObstacleAvoidingPlatformCtrl", m);
 
             m_platform->move(vels.modulated_local.x(), vels.modulated_local.y(), vels.target_rot);