Level 1 Controller interface for the platfrom velocity controler

source/RobotAPI/libraries/RobotRTControllers/LVL1Controller.h

@@ -302,6 +302,12 @@ namespace armarx
             controlDataTripleBuffer {initialCommands}
         {
         }
+
+        virtual void rtSwapBufferAndRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override
+        {
+            rtUpdateControlStruct();
+            rtRun(sensorValuesTimestamp, timeSinceLastIteration);
+        }
     protected:
         const ControlDataStruct& rtGetControlStruct() const
         {
@@ -311,11 +317,6 @@ namespace armarx
         {
             return controlDataTripleBuffer.updateReadBuffer();
         }
-        virtual void rtSwapBufferAndRun(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) override
-        {
-            rtUpdateControlStruct();
-            rtRun(sensorValuesTimestamp, timeSinceLastIteration);
-        }
 
         void writeControlStruct()
         {
@@ -336,5 +337,26 @@ namespace armarx
     };
     template <typename ControlDataStruct>
     using LVL1ControllerTemplatePtr = IceInternal::Handle<LVL1ControllerWithTripleBuffer<ControlDataStruct>>;
+
+
+    struct PlatformCartesianVelocity
+    {
+        float vx;
+        float vy;
+        float vAngle;
+        PlatformCartesianVelocity() : vx(0), vy(0), vAngle(0)
+        { }
+    };
+
+
+    class AbstractLvl1PlatformVelocityController : public virtual LVL1ControllerWithTripleBuffer<PlatformCartesianVelocity> {
+
+    public:
+        virtual void setTarget(float vx, float vy, float vAngle) = 0;
+    };
+
+    typedef boost::shared_ptr <AbstractLvl1PlatformVelocityController> AbstractLvl1PlatformVelocityControllerPtr;
+
+
 }
 #endif