added the PlatformWheelVelocityTarget;

changed the JointTargetBase to a general TargetBase;
added wheel speed reporting to the PlatformDataUnit

source/RobotAPI/libraries/RobotRTControllers/CMakeLists.txt

@@ -21,11 +21,11 @@ set(LIB_FILES
 set(LIB_HEADERS
     Constants.h
     ControlModes.h
-
-    Targets/JointTargetBase.h
+		Targets/TargetBase.h
     Targets/JointPositionTarget.h
     Targets/JointVelocityTarget.h
     Targets/JointTorqueTarget.h
+		Targets/PlatformWheelVelocityTarget.h
 
     DataUnits/ForceTorqueDataUnit.h
     DataUnits/HapticDataUnit.h

source/RobotAPI/libraries/RobotRTControllers/DataUnits/PlatformDataUnit.h

@@ -34,6 +34,10 @@ namespace armarx
         virtual const float* getVelocityX() const = 0;
         virtual const float* getVelocityY() const = 0;
         virtual const float* getVelocityRotation() const = 0;
+        virtual const float* getFrontRightWheelVelocity() const = 0;
+        virtual const float* getFrontLeftWheelVelocity() const = 0;
+        virtual const float* getRearRightWheelVelocity() const = 0;
+        virtual const float* getRearLeftWheelVelocity() const = 0;
     };
 
     class PlatformDataUnitPtrProvider : public virtual PlatformDataUnitInterface
@@ -64,7 +68,48 @@ namespace armarx
         {
             return velocityRotation;
         }
+
+        const float* getFrontRightWheelVelocity() const override
+        {
+            return frontRightVelocity;
+        }
+
+        const float* getFrontLeftWheelVelocity() const override
+        {
+            return frontLeftVelocity;
+        }
+
+        const float* getRearRightWheelVelocity() const override
+        {
+            return rearRightVelocity;
+        }
+
+        const float* getRearLeftWheelVelocity() const override
+        {
+            return rearLeftVelocity;
+        }
+
     protected:
+        void setFrontRightVelocityPtr(float* velocity)
+        {
+            frontRightVelocity = velocity;
+        }
+
+        void setFrontLeftVelocityPtr(float* velocity)
+        {
+            frontRightVelocity = velocity;
+        }
+
+        void setRearRightVelocityPtr(float* velocity)
+        {
+            frontRightVelocity = velocity;
+        }
+
+        void setRearLeftVelocityPtr(float* velocity)
+        {
+            frontRightVelocity = velocity;
+        }
+
         float* positionX;
         float* positionY;
         float* rotation;
@@ -72,6 +117,11 @@ namespace armarx
         float* velocityX;
         float* velocityY;
         float* velocityRotation;
+
+        float* frontRightVelocity;
+        float* frontLeftVelocity;
+        float* rearRightVelocity;
+        float* rearLeftVelocity;
     };
 }
 

source/RobotAPI/libraries/RobotRTControllers/LVL0Controller.h

@@ -23,7 +23,7 @@
 #ifndef _ARMARX_LIB_RobotAPI_LVL0Controller_H
 #define _ARMARX_LIB_RobotAPI_LVL0Controller_H
 
-#include "Targets/JointTargetBase.h"
+#include "Targets/TargetBase.h"
 
 #include <memory>
 
@@ -36,7 +36,7 @@ namespace armarx
     {
     public:
         virtual void run(const IceUtil::Time& sensorValuesTimestamp, const IceUtil::Time& timeSinceLastIteration) = 0;
-        virtual JointTargetBase* getTarget() const = 0;
+        virtual TargetBase* getTarget() const = 0;
 
 
         virtual void resetTarget()

source/RobotAPI/libraries/RobotRTControllers/LVL1Controller.h

@@ -35,7 +35,7 @@
 
 #include <RobotAPI/interface/libraries/RTControllers/LVL1Controller.h>
 
-#include "Targets/JointTargetBase.h"
+#include "Targets/TargetBase.h"
 
 //units
 #include "DataUnits/ForceTorqueDataUnit.h"
@@ -55,7 +55,7 @@ namespace armarx
         virtual const   KinematicDataUnitInterface* getRTKinematicDataUnit() const = 0;
         virtual const    PlatformDataUnitInterface* getRTPlatformDataUnit() const = 0;
 
-        virtual JointTargetBase* getJointTarget(const std::string& jointName, const std::string& controlMode) = 0;
+        virtual TargetBase* getJointTarget(const std::string& jointName, const std::string& controlMode) = 0;
 
         virtual std::string getName() const = 0;
     };

source/RobotAPI/libraries/RobotRTControllers/RobotUnit.cpp

@@ -361,7 +361,7 @@ armarx::LVL1ControllerInterfacePrx armarx::RobotUnit::loadController(const std::
     return LVL1ControllerInterfacePrx::uncheckedCast(prx);
 }
 
-armarx::JointTargetBase* armarx::RobotUnit::getJointTarget(const std::string& jointName, const std::string& controlMode)
+armarx::TargetBase* armarx::RobotUnit::getJointTarget(const std::string& jointName, const std::string& controlMode)
 {
     GuardType guard {dataMutex};
     if (!hasLVL0Controller(jointName, controlMode))

source/RobotAPI/libraries/RobotRTControllers/RobotUnit.h

@@ -231,7 +231,7 @@ namespace armarx
         virtual const   KinematicDataUnitInterface* getRTKinematicDataUnit() const = 0;
         virtual const    PlatformDataUnitInterface* getRTPlatformDataUnit() const = 0;
         //targets (nonrt but results are used in rt)
-        virtual JointTargetBase* getJointTarget(const std::string& jointName, const std::string& controlMode) override;
+        virtual TargetBase* getJointTarget(const std::string& jointName, const std::string& controlMode) override;
 
     protected:
         // //////////////////////////////////////////////////////////////////////////////////////////////////////////////////// //

source/RobotAPI/libraries/RobotRTControllers/SyntaxCheck.cpp

@@ -31,7 +31,7 @@
 #include "DataUnits/PlatformDataUnit.h"
 
 #include "Targets/JointPositionTarget.h"
-#include "Targets/JointTargetBase.h"
+#include "Targets/TargetBase.h"
 #include "Targets/JointTorqueTarget.h"
 #include "Targets/JointVelocityTarget.h"
 

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

@@ -23,7 +23,7 @@
 #ifndef _ARMARX_LIB_RobotAPI_JointPositionTarget_H
 #define _ARMARX_LIB_RobotAPI_JointPositionTarget_H
 
-#include "JointTargetBase.h"
+#include "TargetBase.h"
 
 namespace armarx
 {
@@ -38,7 +38,7 @@ namespace armarx
     *
     * Detailed description of class JointPositionTarget.
     */
-    class JointPositionTarget: public JointTargetBase
+    class JointPositionTarget: public TargetBase
     {
     public:
         float position = ControllerConstants::ValueNotSetNaN;

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

@@ -23,7 +23,7 @@
 #ifndef _ARMARX_LIB_RobotAPI_JointTorqueTarget_H
 #define _ARMARX_LIB_RobotAPI_JointTorqueTarget_H
 
-#include "JointTargetBase.h"
+#include "TargetBase.h"
 
 namespace armarx
 {
@@ -38,7 +38,7 @@ namespace armarx
     *
     * Detailed description of class JointTorqueTarget.
     */
-    class JointTorqueTarget: public JointTargetBase
+    class JointTorqueTarget: public TargetBase
     {
     public:
         float torque = ControllerConstants::ValueNotSetNaN;

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

@@ -23,7 +23,7 @@
 #ifndef _ARMARX_LIB_RobotAPI_JointVelocityTarget_H
 #define _ARMARX_LIB_RobotAPI_JointVelocityTarget_H
 
-#include "JointTargetBase.h"
+#include "TargetBase.h"
 
 namespace armarx
 {
@@ -38,7 +38,7 @@ namespace armarx
     *
     * Detailed description of class JointVelocityTarget.
     */
-    class JointVelocityTarget: public JointTargetBase
+    class JointVelocityTarget: public TargetBase
     {
     public:
         float velocity = ControllerConstants::ValueNotSetNaN;
@@ -55,7 +55,6 @@ namespace armarx
             return std::isfinite(velocity);
         }
     };
-
 }
 
 #endif

source/RobotAPI/libraries/RobotRTControllers/Targets/PlatformWheelVelocityTarget.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_LIB_RobotAPI_PLATFORMWHEELTARGET_H
+#define _ARMARX_LIB_RobotAPI_PLATFORMWHEELTARGET_H
+
+
+#include "TargetBase.h"
+
+
+namespace armarx
+{
+
+    class PlatformWheelVelocityTarget : public TargetBase
+    {
+    public:
+        float velocity = ControllerConstants::ValueNotSetNaN;
+        virtual std::string getControlMode() const override
+        {
+            return ControlModes::VelocityMode;
+        }
+        virtual void reset() override
+        {
+            velocity = ControllerConstants::ValueNotSetNaN;
+        }
+        virtual bool isValid() const override
+        {
+            return std::isfinite(velocity);
+        }
+
+    private:
+    };
+
+}
+
+#endif //_ARMARX_LIB_RobotAPI_PLATFORMWHEELTARGET_H

source/RobotAPI/libraries/RobotRTControllers/Targets/JointTargetBase.h → source/RobotAPI/libraries/RobotRTControllers/Targets/TargetBase.h

@@ -34,13 +34,13 @@ namespace armarx
     * @ingroup RobotAPI
     * A description of the library RobotRTControllers.
     *
-    * @class JointTargetBase
+    * @class TargetBase
     * @ingroup Library-RobotRTControllers
     * @brief Brief description of class JointTargetBase.
     *
-    * Detailed description of class JointTargetBase.
+    * Detailed description of class TargetBase.
     */
-    class JointTargetBase
+    class TargetBase
     {
     public:
         virtual std::string getControlMode() const = 0;