ObstacleControllerPlatformUnit:. clearing velocity buffer if new target pose is set

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

@@ -163,6 +163,9 @@ armarx::ObstacleAvoidingPlatformUnit::moveTo(
     m_control_data.pos_reached_threshold = pos_reached_threshold;
     m_control_data.ori_reached_threshold = ori_reached_threshold;
 
+    // clear the buffer to prevent any movement into arbitrary directions
+    m_control_data.vel_history.clear();
+
     invalidate(m_control_data.target_vel);
     invalidate(m_control_data.target_rot_vel);