Revision 3aa7a8f3

View differences:

server/include/ROS/LookatCallbackWrapperROS.h
52 52
    {
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        // eyes frame has z-axis pointing along view dir (90° rotation w.r.t. base)
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        // and z-position is shifted to height of eyes
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        eig_eyes_to_base = (Eigen::Translation3d(0.078, 0, 0.188)
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        eig_eyes_to_base = (Eigen::Translation3d(0.0, 0.0, 0.188)
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                * Eigen::AngleAxisd(angles::from_degrees(90), Eigen::Vector3d::UnitY())
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                * Eigen::AngleAxisd(angles::from_degrees(180), Eigen::Vector3d::UnitZ())).inverse();
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        //eig_eyes_to_base = Eigen::Translation3d(0.070621, 0, 0.2006).inverse();

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