Revision 62aeb8ce client/cpp/src/MiddlewareROS.cpp

View differences:

client/cpp/src/MiddlewareROS.cpp
153 153 
    goal.tilt_offset = target.tilt_offset;
154 154 
    goal.pan_offset = target.pan_offset;
155 155 

  		




  
  156
  
    
    //timestamp:


  		




  
  157
  
    
    //ts = t.sec + t.nsec/1000000000.0;


  		




  
  158
  
    
    uint32_t sec  = (uint32_t) target.timestamp;


  		




  
  159
  
    
    uint32_t nsec = (uint32_t)((target.timestamp - sec)*1000000000);


  		




  
  160
  
    
    goal.timestamp = ros::Time(sec, nsec);


  		




  
  161
  
    

  		




  
  162
  
    
    if (target.type == RobotGaze::ABSOLUTE){


  		




  
  163
  
    
        goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE;


  		




  
  164
  
    
    }else{


  		




  
  165
  
    
        goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_RELATIVE;


  		




  
  166
  
    
    }


  		




  
  167
  
    

  		




  156
  168
  
    
    //send


  		




  157
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    gazetarget_ac->sendGoal(goal);


  		




  158
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