target get set to 0 at activation of pass through controller

also added PlatformTarget

source/RobotAPI/libraries/BasicRTControllers/PassThroughController.h

@@ -34,6 +34,7 @@
 #include <RobotAPI/libraries/RobotRTControllers/Targets/JointTorqueTarget.h>
 #include <RobotAPI/libraries/RobotRTControllers/Targets/JointVelocityTarget.h>
 #include <RobotAPI/libraries/RobotRTControllers/DataUnits/KinematicDataUnit.h>
+#include <RobotAPI/libraries/RobotRTControllers/Targets/PlatformWheelVelocityTarget.h>
 
 namespace armarx
 {
@@ -134,9 +135,38 @@ namespace armarx
         }
     };
 
+    template <>
+    struct PassThroughControllerTargetTypeTraits<PlatformWheelVelocityTarget>
+    {
+        static float* getTargetDatamember(PlatformWheelVelocityTarget& t)
+        {
+            return  &t.velocity;
+        }
+        static const float* getFrontRightWheelVelocity(const PlatformDataUnitInterface* pu)
+        {
+            return pu->getFrontRightWheelVelocity();
+        }
+        static const float* getFrontLeftWheelVelocity(const PlatformDataUnitInterface* pu)
+        {
+            return pu->getFrontLeftWheelVelocity();
+        }
+        static const float* getRearRightWheelVelocity(const PlatformDataUnitInterface* pu)
+        {
+            return pu->getRearRightWheelVelocity();
+        }
+        static const float* getRearLeftWheelVelocity(const PlatformDataUnitInterface* pu)
+        {
+            return pu->getRearLeftWheelVelocity();
+        }
+        static  std::string getControlMode()
+        {
+            return ControlModes::VelocityMode;
+        }
+    };
+
     LVL1ControllerRegistration<PassThroughController<JointPositionTarget>> registrationSomeControllerPositionPassThroughController("PositionPassThroughController");
     LVL1ControllerRegistration<PassThroughController<JointVelocityTarget>> registrationSomeControllerVelocityPassThroughController("VelocityPassThroughController");
-    LVL1ControllerRegistration<PassThroughController<JointTorqueTarget  >> registrationSomeControllerJointPassThroughController("JointPassThroughController");
+    LVL1ControllerRegistration<PassThroughController<JointTorqueTarget  >> registrationSomeControllerJointPassThroughController("TorquePassThroughController");
 
     template <typename TargetType>
     std::string PassThroughController<TargetType>::getClassName(const Ice::Current&) const
@@ -194,6 +224,8 @@ namespace armarx
         for (std::size_t i = 0; i < jointStates.size(); ++i)
         {
             iceTargets.at(i).val.store(*jointStates.at(i));
+            //set it to zero
+            iceTargets.at(i).val.store(0.0);
         }
     }