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.

*

*/

#pragma once

#include <time.h>

class RobotGaze{

public:

    RobotGaze(){

        pan = 0.0;

        tilt = 0.0;

        roll = 0.0;

        vergence = 0.0;

        pan_offset = 0.0;

        tilt_offset = 0.0;

        gaze_type = ABSOLUTE;

    }

    static double now(){

        //fetch time

        struct timespec tp;

        clock_gettime(CLOCK_REALTIME, &tp);

        return tp.tv_sec+tp.tv_nsec/1000000000.0;

    };

    enum {

        RELATIVE = 0,

        ABSOLUTE = 1

    };

    double timestamp;

    int gaze_type;

    float pan, tilt, roll, vergence;

    float pan_offset, tilt_offset;

};