Mirko Wächter authored 6 years ago and Mirko Wächter committed 6 years ago

(cherry picked from commit 6ed9866e)

* Const correctness
* Debug output
* Race condition

Remove unused option from rtDeactivateNJointControllerBecauseOfError and rtDeactivateAssignedNJointControllerBecauseOfError

TCPControllerSubUnit: Fixed isRequested()

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  Add more verbose output to RobotUnitModuleControlThread
  Add newline to output
  Add NJointController::rtGetClassName and NJointController::rtGetInstanceName
  Add ARMARX_RT_LOGF_WARNING
  Add DeviceBase::rtGetDeviceName
  fixed funny c++ compile requirement.
  CartesianPositionController: OptimizeNullspace CartesianPositionController: autoclear feed forward velocity CartesianVelocityController: Limit max joint velocity and descriptive comment
  statecharts use now the robot pool
  DebugDrawer: Remove circle visus when layer is cleared

CartesianPositionController: autoclear feed forward velocity
CartesianVelocityController: Limit max joint velocity
and descriptive comment

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  made NJointController cleanup exception safe

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  Improved debug output message
  added convenience function to start a task in a thread pool thread from an NJointController

Async. Tasks of an NJointController

See merge request ArmarX/RobotAPI!41

* 'master' of https://gitlab.com/ArmarX/RobotAPI:
  fixed reporting of gravitytorque
  added feed forward velocity

added a publish hook for the JointController to publish custom data

See merge request ArmarX/RobotAPI!40