Revision b1a51350 server/include/ROS/GazeCallbackWrapperROS.h

View differences:

server/include/ROS/GazeCallbackWrapperROS.h
42 42 
        //
43 43 
    };
44 44 

  		




  
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    //! this provides a consistent transformation of ros ts to double


  		




  
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    double convert_ros_to_timestamp_ms(ros::Time t){


  		




  
  47
  
    
            return t.sec + t.nsec/1000000000.0;


  		




  
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    }


  		




  
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  50
  
    

  		




  45
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    void call(const GoalConstPtr &goal){


  		




  46
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        feedback.result = 1;


  		




  47
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  ......




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        gaze_state.tilt  = request->tilt;


  		




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        gaze_state.roll  = request->roll;


  		




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  58
  
  
    
        gaze_state.timestamp = get_timestamp(); //FIXME!!


  		




  
  64
  
    
        //use timestamp from request


  		




  
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        gaze_state.timestamp = convert_ros_to_timestamp_ms(request->timestamp); //get_timestamp();


  		




  
  66
  
    
        if (request->type == hlrc_server::gazetargetGoal::GAZETARGET_RELATIVE){


  		




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


  		




  
  68
  
    
        }else{


  		




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


  		




  
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        }


  		




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        //default:


  		




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        gaze_state.vergence  = request->vergence;


  		












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