hlrc

"""

This file is part of hlrc

Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

http://opensource.cit-ec.de/projects/hlrc

This file may be licensed under the terms of the

GNU General Public License Version 3 (the ``GPL''),

or (at your option) any later version.

Software distributed under the License is distributed

on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

express or implied. See the GPL for the specific language

governing rights and limitations.

You should have received a copy of the GPL along with this

program. If not, go to http://www.gnu.org/licenses/gpl.html

or write to the Free Software Foundation, Inc.,

51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

The development of this software was supported by the

Excellence Cluster EXC 277 Cognitive Interaction Technology.

The Excellence Cluster EXC 277 is a grant of the Deutsche

Forschungsgemeinschaft (DFG) in the context of the German

Excellence Initiative.

"""

from RobotTimestamp import *

class RobotGaze:

    GAZETARGET_ABSOLUTE = 0

    GAZETARGET_RELATIVE = 1

    def __init__(self, pan = 0.0, tilt = 0.0, roll = 0.0):

        self.pan  = pan

        self.tilt = tilt

        self.roll = roll

        self.vergence = 0.0

        self.pan_offset = 0.0

        self.tilt_offset = 0.0

        self.gaze_type = RobotGaze.GAZETARGET_ABSOLUTE

        self.gaze_timestamp = RobotTimestamp()

    def __str__(self):

        if self.gaze_type == RobotGaze.GAZETARGET_ABSOLUTE:

            type_s = "ABSOLUTE"

        else:

            type_s = "RELATIVE"

        return "RobotGaze = { PTR={%6.2f %6.2f %6.2f} vergence=%6.2f PT_offset={%6.2f %6.2f} [%s, ts=%s]}" \

                % (self.pan, self.tilt, self.roll, self.vergence, self.pan_offset, self.tilt_offset, type_s, self.gaze_timestamp)