Revision 62aeb8ce
| client/cpp/examples/random_gaze/main.cpp | ||
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| 57 | 57 |
gaze.roll = 0.0; |
| 58 | 58 |
gaze.vergence = 0.0; |
| 59 | 59 |
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//absolute mode |
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gaze.type = RobotGaze::ABSOLUTE; |
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gaze.timestamp = RobotGaze::now(); |
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//robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY)); |
| 61 | 65 |
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| 62 | 66 |
//reset counter |
| client/cpp/include/RobotGaze.h | ||
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| 27 | 27 |
*/ |
| 28 | 28 |
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#pragma once |
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#include <time.h> |
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class RobotGaze{
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public: |
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RobotGaze(){
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| ... | ... | |
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vergence = 0.0; |
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pan_offset = 0.0; |
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tilt_offset = 0.0; |
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type = ABSOLUTE; |
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} |
| 40 | 43 |
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static double now(){
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//fetch time |
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struct timespec tp; |
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clock_gettime(CLOCK_REALTIME, &tp); |
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return tp.tv_sec+tp.tv_nsec/1000000000.0; |
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}; |
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enum {
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RELATIVE = 0, |
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ABSOLUTE = 1 |
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}; |
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double timestamp; |
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int type; |
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float pan, tilt, roll, vergence; |
| 42 | 61 |
float pan_offset, tilt_offset; |
| 43 | 62 |
}; |
| client/cpp/src/MiddlewareROS.cpp | ||
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| 153 | 153 |
goal.tilt_offset = target.tilt_offset; |
| 154 | 154 |
goal.pan_offset = target.pan_offset; |
| 155 | 155 |
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//timestamp: |
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//ts = t.sec + t.nsec/1000000000.0; |
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uint32_t sec = (uint32_t) target.timestamp; |
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uint32_t nsec = (uint32_t)((target.timestamp - sec)*1000000000); |
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goal.timestamp = ros::Time(sec, nsec); |
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if (target.type == RobotGaze::ABSOLUTE){
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goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE; |
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}else{
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goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_RELATIVE; |
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} |
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//send |
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gazetarget_ac->sendGoal(goal); |
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| server/action/gazetarget.action | ||
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| 17 | 17 |
#relative or absolute gaze target? |
| 18 | 18 |
uint8 GAZETARGET_RELATIVE = 0 |
| 19 | 19 |
uint8 GAZETARGET_ABSOLUTE = 0 |
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uint8 type |
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uint8 gaze_type
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#timestamp of the target (important in case of relative targets) |
| 23 | 23 |
time timestamp |
| server/include/ROS/GazeCallbackWrapperROS.h | ||
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| 63 | 63 |
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| 64 | 64 |
//use timestamp from request |
| 65 | 65 |
gaze_state.timestamp = convert_ros_to_timestamp_ms(request->timestamp); //get_timestamp(); |
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if (request->type == hlrc_server::gazetargetGoal::GAZETARGET_RELATIVE){
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gaze_state.type = humotion::GazeState::RELATIVE; |
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}else{
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if (request->gaze_type == hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE){
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gaze_state.type = humotion::GazeState::ABSOLUTE; |
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}else{
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gaze_state.type = humotion::GazeState::RELATIVE; |
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} |
| 71 | 71 |
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//default: |
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