From 904f3595ba9adeb9e16838167bfcde0f68f2e932 Mon Sep 17 00:00:00 2001
From: Martina Marek <martina.marek@gmail.com>
Date: Wed, 15 Jul 2015 14:59:51 +0200
Subject: [PATCH] MMMPlayer: made nodesetname configurable
---
source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp | 4 ++--
source/RobotAPI/components/MMMPlayer/MMMPlayer.h | 2 ++
2 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp b/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp
index 9c3ff7a6a..96170872e 100644
--- a/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp
+++ b/source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp
@@ -45,7 +45,7 @@ void MMMPlayer::onInitComponent()
desiredFPS = 1;
usePIDController = getProperty<bool>("UsePIDController").getValue();
if(usePIDController)
- usingTopic("RobotState");
+ usingTopic(getProperty<std::string>("RobotNodeSetName").getValue());
}
@@ -137,7 +137,7 @@ void MMMPlayer::run()
if(currentFrame +1 < (int)motion->getNumFrames())
nextFrame = motion->getMotionFrame(currentFrame+1);
targetPositionValues.clear();
- ARMARX_INFO << deactivateSpam(1) << "frame: " << currentFrame << " iv: " << interpolationValue;
+ ARMARX_INFO << deactivateSpam(1) << "frame: " << currentFrame << " " << VAROUT(interpolationValue);
StringVariantBaseMap debugTargetValues;
ARMARX_CHECK_EXPRESSION((int)jointNames.size() == frame->joint.rows());
for (size_t i = 0; i < jointNames.size(); ++i) {
diff --git a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
index 1e4417ac4..272c8823d 100644
--- a/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
+++ b/source/RobotAPI/components/MMMPlayer/MMMPlayer.h
@@ -74,6 +74,8 @@ namespace armarx
defineOptionalProperty<float>("Ki", 0.00001f, "Integral gain value of PID Controller");
defineOptionalProperty<float>("Kd", 1.0f, "Differential gain value of PID Controller");
defineOptionalProperty<float>("absMaximumVelocity", 120.0f, "The PID will never set a velocity above this threshold in degree");
+ defineOptionalProperty<std::string>("RobotNodeSetName", "RobotState", "The name of the robot node set to be used (only need for PIDController mode)");
+
}
};
--
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