Merge remote-tracking branch 'origin/Armar6RT' into Armar6RT

source/RobotAPI/interface/libraries/RTControllers/PlatformPassThroughController.ice

+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package    RobotAPI::PlatformPassThroughController
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_PlatformPassThroughController_SLICE_
+#define _ARMARX_ROBOTAPI_PlatformPassThroughController_SLICE_
+
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <RobotAPI/interface/libraries/RTControllers/LVL1Controller.ice>
+
+module armarx
+{
+
+    interface PlatformPassThroughControllerInterface extends LVL1ControllerInterface
+    {
+        idempotent void setXTargetValue(float value) throws InvalidArgumentException;
+        idempotent void setYTargetValue(float value) throws InvalidArgumentException;
+        idempotent void setAlphaTargetValue(float value) throws InvalidArgumentException;
+    };
+};
+#endif
\ No newline at end of file

source/RobotAPI/libraries/RobotRTControllers/Targets/PlatformVelocityTarget.h

+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T),
+ * Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @author     Markus Swarowsky (markus dot swarowsky at student dot kit dot edu)
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#ifndef armarx_Targets_PlatformVelocityTarget
+#define armarx_Targets_PlatformVelocityTarget
+
+#include <boost/shared_ptr.hpp>
+
+namespace armarx
+{
+    class PlatformVelocityTarget;
+
+    typedef boost::shared_ptr <PlatformVelocityTarget> PlatformVelocityTargetPtr;
+
+    class PlatformVelocityTarget : public JointTargetBase
+    {
+    public:
+        PlatformVelocityTarget();
+
+        virtual std::string getControlMode()
+        {
+            return ControlMode::eVelocityControl;
+        }
+
+        virtual void reset()
+        {
+            xVelocityTarget = ControllerConstants::ValueNotSetNaN;
+            yVelocityTarget = ControllerConstants::ValueNotSetNaN;
+            theaVelocityTarget = ControllerConstants::ValueNotSetNaN;
+        }
+
+        virtual bool isValid()
+        {
+            return (std::isfinite(xVelocityTarget) && std::isfinite(yVelocityTarget) &&
+                    std::isfinite(theaVelocityTarget));
+        }
+
+        void setXVelocityTarget(float target)
+        {
+            xVelocityTarget = target;
+        }
+
+        void setYVelocityTarget(float target)
+        {
+            yVelocityTarget = target;
+        }
+
+        void setTheaVelocityTarget(float target)
+        {
+            theaVelocityTarget = target;
+        }
+
+    private:
+        float xVelocityTarget;
+        float yVelocityTarget;
+        float theaVelocityTarget;
+    };
+}
+
+#endif // armarx_Targets_PlatformVelocityTarget