Revision 888a909b client/cpp/src/MiddlewareRSB.cpp
| client/cpp/src/MiddlewareRSB.cpp | ||
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} |
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void MiddlewareRSB::publish_emotion(string scope_target, RobotEmotion e, bool blocking){
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boost::shared_ptr<rst::animation::EmotionExpression> request(new rst::animation::EmotionExpression());
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std::shared_ptr<rst::animation::EmotionExpression> request(new rst::animation::EmotionExpression());
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switch(e.value){
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default: |
| ... | ... | |
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} |
| 136 | 136 |
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void MiddlewareRSB::publish_gaze_target(RobotGaze incoming_target, bool blocking){
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boost::shared_ptr<rst::animation::BinocularHeadGaze> request(new rst::animation::BinocularHeadGaze ());
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std::shared_ptr<rst::animation::BinocularHeadGaze> request(new rst::animation::BinocularHeadGaze ());
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boost::shared_ptr<rst::geometry::SphericalDirectionFloat> target(new rst::geometry::SphericalDirectionFloat ());
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std::shared_ptr<rst::geometry::SphericalDirectionFloat> target(new rst::geometry::SphericalDirectionFloat ());
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target->set_azimuth(incoming_target.pan); |
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target->set_elevation(incoming_target.tilt); |
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request->set_allocated_target(target.get()); |
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request->set_eye_vergence(incoming_target.vergence); |
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boost::shared_ptr<rst::geometry::SphericalDirectionFloat> offset(new rst::geometry::SphericalDirectionFloat());
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std::shared_ptr<rst::geometry::SphericalDirectionFloat> offset(new rst::geometry::SphericalDirectionFloat());
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offset->set_azimuth(incoming_target.pan_offset); |
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offset->set_elevation(incoming_target.tilt_offset); |
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request->set_allocated_offset(offset.get()); |
| ... | ... | |
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void MiddlewareRSB::publish_mouth_target(RobotMouth target, bool blocking){
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/* |
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boost::shared_ptr<rst::robot::MouthTarget> request(new rst::robot::MouthTarget());
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std::shared_ptr<rst::robot::MouthTarget> request(new rst::robot::MouthTarget());
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request->set_position_left( target.position_left); |
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request->set_position_center(target.position_center); |
| ... | ... | |
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} |
| 184 | 184 |
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void MiddlewareRSB::publish_head_animation(RobotHeadAnimation a, bool blocking){
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boost::shared_ptr<rst::animation::HeadAnimation> request(new rst::animation::HeadAnimation());
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std::shared_ptr<rst::animation::HeadAnimation> request(new rst::animation::HeadAnimation());
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switch(a.value){
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default: |
| ... | ... | |
| 234 | 234 |
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void MiddlewareRSB::publish_speech(string text, bool blocking){
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//say it |
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boost::shared_ptr<std::string> request(new string(text));
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std::shared_ptr<std::string> request(new string(text));
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if (blocking){
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hlrc_server->call<std::string>("speech", request);
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