diff --git a/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt b/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt
index e4ba4cbeb2f200759b404cd7173ffd31c039d1d7..63722b6666cd981cc756985e9dc12c11477d4d1e 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt
+++ b/source/RobotAPI/statecharts/MotionControlGroup/CMakeLists.txt
@@ -20,6 +20,7 @@ set(SOURCES
MotionControlGroupRemoteStateOfferer.cpp
./MoveJoints.cpp
testing/testMoveJoints.cpp
+./StopRobot.cpp
#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
)
@@ -27,6 +28,7 @@ set(HEADERS
MotionControlGroupRemoteStateOfferer.h
./MoveJoints.h
testing/testMoveJoints.h
+./StopRobot.h
#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
)
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml b/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml
index a7c11afef34dcc9ec770aac25bddcfa0591eff1a..5bb6eae9507c441a1e77b1e5a5cceec0bae3145c 100644
--- a/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml
+++ b/source/RobotAPI/statecharts/MotionControlGroup/MotionControlGroup.scgxml
@@ -4,5 +4,6 @@
<State filename="testMoveJoints.xml"/>
</Folder>
<State filename="MoveJoints.xml" visibility="public"/>
+ <State filename="StopRobot.xml"/>
</StatechartGroup>
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.cpp b/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..d199bfbca5b409da88ff06ef3cc237542db9c3e4
--- /dev/null
+++ b/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.cpp
@@ -0,0 +1,83 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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::MotionControlGroup
+ * @author Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#include "StopRobot.h"
+
+using namespace armarx;
+using namespace MotionControlGroup;
+
+// DO NOT EDIT NEXT LINE
+StopRobot::SubClassRegistry StopRobot::Registry(StopRobot::GetName(), &StopRobot::CreateInstance);
+
+
+
+StopRobot::StopRobot(XMLStateConstructorParams stateData) :
+ XMLStateTemplate < StopRobot > (stateData)
+{
+}
+
+void StopRobot::onEnter()
+{
+ // put your user code for the enter-point here
+ // execution time should be short (<100ms)
+}
+
+void StopRobot::run()
+{
+ // put your user code for the execution-phase here
+ // runs in seperate thread, thus can do complex operations
+ // should check constantly whether isRunningTaskStopped() returns true
+
+
+ while (!isRunningTaskStopped()) // stop run function if returning true
+ {
+ // do your calculations
+ }
+
+}
+
+void StopRobot::onBreak()
+{
+ // put your user code for the breaking point here
+ // execution time should be short (<100ms)
+}
+
+void StopRobot::onExit()
+{
+ // put your user code for the exit point here
+ // execution time should be short (<100ms)
+
+}
+
+// DO NOT EDIT NEXT FUNCTION
+std::string StopRobot::GetName()
+{
+ return "StopRobot";
+}
+
+// DO NOT EDIT NEXT FUNCTION
+XMLStateFactoryBasePtr StopRobot::CreateInstance(XMLStateConstructorParams stateData)
+{
+ return XMLStateFactoryBasePtr(new StopRobot(stateData));
+}
+
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.h b/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.h
new file mode 100644
index 0000000000000000000000000000000000000000..78bad70208f834b59a231549ad664393a596beb9
--- /dev/null
+++ b/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.h
@@ -0,0 +1,58 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU Lesser General Public License as
+ * published by the Free Software Foundation; either version 2 of
+ * the License, or (at your option) any later version.
+ *
+ * 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 Lesser 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::MotionControlGroup
+ * @author Manfred Kroehnert ( Manfred dot Kroehnert at kit dot edu )
+ * @date 2014
+ * @copyright http://www.gnu.org/licenses/gpl.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_StopRobot_H
+#define _ARMARX_XMLUSERCODE_RobotAPI_MotionControlGroup_StopRobot_H
+
+#include <Core/statechart/xmlstates/XMLState.h>
+
+namespace armarx
+{
+ namespace MotionControlGroup
+ {
+ class StopRobot :
+ virtual public XMLStateTemplate < StopRobot > ,
+ public XMLStateFactoryBase
+ {
+ public:
+ StopRobot(XMLStateConstructorParams stateData);
+
+ // inherited from StateBase
+ void onEnter();
+ void run();
+ void onBreak();
+ void onExit();
+
+ // static functions for AbstractFactory Method
+ static std::string GetName();
+ static XMLStateFactoryBasePtr CreateInstance(XMLStateConstructorParams stateData);
+ static SubClassRegistry Registry;
+
+ // DO NOT INSERT ANY CLASS MEMBERS,
+ // use stateparameters instead,
+ // if classmember are neccessary nonetheless, reset them in onEnter
+ };
+ }
+}
+
+#endif
diff --git a/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.xml b/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.xml
new file mode 100644
index 0000000000000000000000000000000000000000..4d6edb683ed28bc99daa43d8f51acb42624d6b83
--- /dev/null
+++ b/source/RobotAPI/statecharts/MotionControlGroup/StopRobot.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<State version="1.0" name="StopRobot" uuid="A88DB279-17A6-4776-A3C0-114B775609C9" width="800" height="600">
+ <InputParameters/>
+ <OutputParameters/>
+ <LocalParameters/>
+ <Substates/>
+ <Events/>
+ <Transitions/>
+</State>
+