hlrc

    hlrc_server::lookattargetFeedback feedback;

    hlrc_server::lookattargetResult result;

    const tf2_ros::Buffer& tfBuffer;

    // pan/tilt will be computed w.r.t. to virtual frame at height of eyes

    Eigen::Affine3d eig_eyes_to_base;

    double eye_distance; // distance from center of eyes to eye frame

    {

        // eyes frame has z-axis pointing along view dir (90° rotation w.r.t. base)

        // and z-position is shifted to height of eyes

                * Eigen::AngleAxisd(angles::from_degrees(90), Eigen::Vector3d::UnitY())

                * Eigen::AngleAxisd(angles::from_degrees(180), Eigen::Vector3d::UnitZ())).inverse();

    }

    void call(const GoalConstPtr &goal){

                    tfBuffer.lookupTransform(FLOBI_BASE_LINK, p.header.frame_id,

                                             p.header.stamp, ros::Duration(0.1));

            } else {

                // otherwise we interpret target directly w.r.t. eye center

            }

        } catch (const std::exception &e) {

            // Failed to resolve tf

            // normalize vector from eyes-center to target

            target /= distance;

            // pan = rotation about x-axis: angle of projection of target onto yz-plane to z-axis

            // tilt = rotation about y-axis: angle between target and yz-plane

            Eigen::Vector2d projection(target.y(), target.z());

            gaze_state.tilt = angles::to_degrees(atan2(target.x(), projection.norm()));

        }

        // fill in rest of gaze_state

        gaze_state.roll  = request->roll;

        // use timestamp from request

        gaze_state.timestamp.set(p.header.stamp.sec, p.header.stamp.nsec);