Revision 4bd3e852 server/include/RSB/GazeCallbackWrapper.h

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server/include/RSB/GazeCallbackWrapper.h
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#include "CallbackWrapper.h"
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//callback handler incoming gaze requests:


  		




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class GazeCallbackWrapper : public CallbackWrapper<rst::robot::GazeTarget>{


  		




  
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class GazeCallbackWrapper : public CallbackWrapper<rst::animation::BinocularHeadGaze>{


  		




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    public:


  		




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        GazeCallbackWrapper(Middleware *mw) : CallbackWrapper(mw){}


  		




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        void call(const std::string& method_name, boost::shared_ptr<rst::robot::GazeTarget> input){


  		




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            rst::robot::GazeTarget *gaze = input.get();


  		




  
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        void call(const std::string& method_name, boost::shared_ptr<rst::animation::BinocularHeadGaze> input){


  		




  
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            rst::animation::BinocularHeadGaze *gaze = input.get();


  		




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            //printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f)\n", gaze->pan(), gaze->tilt(), gaze->roll(), gaze->vergence());


  		




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            humotion::GazeState gaze_state;


  		




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            //fill in gaze


  		




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            gaze_state.pan   = gaze->pan();


  		




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            gaze_state.tilt  = gaze->tilt();


  		




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            gaze_state.roll  = gaze->roll();


  		




  
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            gaze_state.pan   = gaze->target().azimuth();


  		




  
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            gaze_state.tilt  = gaze->target().elevation();


  		




  
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            gaze_state.roll  = 0.0;


  		




  
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            //RSB supports only absolute targets for now...


  		




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            gaze_state.timestamp = 123.45; //FIXME!!


  		




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            gaze_state.type  = humotion::GazeState::ABSOLUTE;


  		




  
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            gaze_state.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE;


  		




  
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            //vergence


  		




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            gaze_state.vergence  = (gaze->has_vergence())?gaze->vergence():0.0;


  		




  
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            gaze_state.vergence  = (gaze->has_eye_vergence())?gaze->eye_vergence():0.0;


  		




  
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            //offsets


  		




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            gaze_state.pan_offset  = (gaze->has_pan_offset())?gaze->pan_offset():0.0;


  		




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            gaze_state.tilt_offset = (gaze->has_tilt_offset())?gaze->tilt_offset():0.0;


  		




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            gaze_state.pan_offset  = (gaze->has_offset())?gaze->offset().azimuth():0.0;


  		




  
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            gaze_state.tilt_offset = (gaze->has_offset())?gaze->offset().elevation():0.0;


  		




  
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            //send to application:


  		




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            mw->gaze_callback(gaze_state);


  		




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        }


  		












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