fixed a typo and added ABS encoder values to the KinematicDataUnit

source/RobotAPI/libraries/Controllers/DataUnits/KinematicDataUnit.h

@@ -53,7 +53,8 @@ namespace armarx
             jointTorques(jointNames.size(), nullptr),
             jointCurrents(jointNames.size(), nullptr),
             jointMotorTemperatures(jointNames.size(), nullptr),
-            jointGearTempertures(jointNames.size(), nullptr),
+            jointGearTemperatures(jointNames.size(), nullptr),
+            jointAbsPositions(jointNames.size(), nullptr),
             jointNames {jointNames},
                    jointIndices {toIndexMap(jointNames)}
         {}
@@ -91,7 +92,11 @@ namespace armarx
         }
         virtual std::vector<const float*> getJointGearTemperatures(const std::vector<std::string>& joints)const
         {
-            return getPointers(joints, jointGearTempertures);
+            return getPointers(joints, jointGearTemperatures);
+        }
+        virtual std::vector<const float*> getJointAbsPositions(const std::vector<std::string>& joints)const
+        {
+            return getPointers(joints, jointAbsPositions);
         }
 
     protected:
@@ -100,7 +105,8 @@ namespace armarx
         std::vector<float*> jointTorques;
         std::vector<float*> jointCurrents;
         std::vector<float*> jointMotorTemperatures;
-        std::vector<float*> jointGearTempertures;
+        std::vector<float*> jointGearTemperatures;
+        std::vector<float*> jointAbsPositions;
     private:
         template<class T>
         std::vector<const T*> getPointers(const std::vector<std::string>& joints, const std::vector<T*>& targets) const