working MMMPlayer version

source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp

@@ -26,6 +26,8 @@
 
 #include <Core/core/exceptions/local/ExpressionException.h>
 
+#include <Core/core/system/ArmarXDataPath.h>
+
 
 using namespace armarx;
 using namespace MMM;
@@ -43,7 +45,9 @@ void MMMPlayer::onConnectComponent()
         ScopedLock lock(playerMutex);
         currentFrame = 0;
         MotionReaderXML reader;
-        motion = reader.loadMotion(getProperty<std::string>("MMMFile").getValue());
+        auto motionPath = getProperty<std::string>("MMMFile").getValue();
+        ArmarXDataPath::getAbsolutePath(motionPath, motionPath);
+        motion = reader.loadMotion(motionPath);
         if(!motion)
         {
             terminate();
@@ -53,7 +57,7 @@ void MMMPlayer::onConnectComponent()
     }
     kin = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
     float fps = getProperty<float>("FPS").getValue();
-    task = new PeriodicTask<MMMPlayer>(this, &MMMPlayer::run, fps, true, "MMMPlayerTask");
+    task = new PeriodicTask<MMMPlayer>(this, &MMMPlayer::run, 1000.0f/fps, true, "MMMPlayerTask");
     task->start();
 
 }
@@ -62,14 +66,21 @@ void MMMPlayer::onConnectComponent()
 void MMMPlayer::run()
 {
     ScopedLock lock(playerMutex);
+    if(currentFrame >= motion->getNumFrames())
+    {
+        currentFrame = 0;
+    }
     auto frame = motion->getMotionFrame(currentFrame);
     NameValueMap targetValues;
-
+    NameControlModeMap modes;
     ARMARX_CHECK_EXPRESSION((int)jointNames.size() == frame->joint.rows());
     for (size_t i = 0; i < jointNames.size(); ++i) {
         targetValues[jointNames.at(i)] = frame->joint[i];
+        modes[jointNames.at(i)] = ePositionControl;
     }
+    kin->switchControlMode(modes);
     kin->setJointAngles(targetValues);
+    ARMARX_VERBOSE << deactivateSpam(3) << "Playing frame " << currentFrame;
     currentFrame++;
 }
 

source/RobotAPI/components/MMMPlayer/MMMPlayer.h

@@ -104,7 +104,7 @@ namespace armarx
         KinematicUnitInterfacePrx kin;
         PeriodicTask<MMMPlayer>::pointer_type task;
         StringList jointNames;
-        int currentFrame;
+        size_t currentFrame;
     };
 }