Revision c5a47e56
| client/cpp/CMakeLists.txt | ||
|---|---|---|
| 24 | 24 |
SET(DATADIR "${PREFIX}/share/hlrc_client")
|
| 25 | 25 |
|
| 26 | 26 |
####################################### |
| 27 |
# check if we have RSB support: |
|
| 28 |
option(WITH_RSB "WITH_RSB" ON) |
|
| 27 |
####################################### |
|
| 28 |
#allow forced disable of RSB |
|
| 29 |
option(IGNORE_RSB "IGNORE_RSB" OFF) |
|
| 29 | 30 |
|
| 30 |
IF(WITH_RSB) |
|
| 31 |
####################################### |
|
| 32 |
# check if we have RSB support: |
|
| 33 |
IF (IGNORE_RSB) |
|
| 34 |
MESSAGE(INFO "RSB disabled per command line flag IGNORE_RSB") |
|
| 35 |
ELSE (IGNORE_RSB) |
|
| 31 | 36 |
FIND_PACKAGE(RSB 0.11) |
| 32 | 37 |
IF (RSB_FOUND) |
| 33 | 38 |
#RSB |
| ... | ... | |
| 56 | 61 |
message(STATUS "RSB Support is ON") |
| 57 | 62 |
add_definitions(-DRSB_SUPPORT=1) |
| 58 | 63 |
ENDIF (RSB_FOUND) |
| 59 |
ENDIF(WITH_RSB) |
|
| 64 |
ENDIF(IGNORE_RSB) |
|
| 65 |
|
|
| 60 | 66 |
################################################################ |
| 61 | 67 |
# check for ROS support: |
| 62 | 68 |
find_package(catkin) |
| client/cpp/examples/random_gaze/main.cpp | ||
|---|---|---|
| 58 | 58 |
gaze.vergence = 0.0; |
| 59 | 59 |
|
| 60 | 60 |
//absolute mode |
| 61 |
gaze.type = RobotGaze::ABSOLUTE; |
|
| 61 |
gaze.gaze_type = RobotGaze::ABSOLUTE;
|
|
| 62 | 62 |
gaze.timestamp = RobotGaze::now(); |
| 63 | 63 |
|
| 64 | 64 |
//robot_controller->set_current_emotion(RobotEmotion(RobotEmotion::ANGRY)); |
| client/cpp/include/RobotGaze.h | ||
|---|---|---|
| 38 | 38 |
vergence = 0.0; |
| 39 | 39 |
pan_offset = 0.0; |
| 40 | 40 |
tilt_offset = 0.0; |
| 41 |
type = ABSOLUTE; |
|
| 41 |
gaze_type = ABSOLUTE;
|
|
| 42 | 42 |
} |
| 43 | 43 |
|
| 44 | 44 |
static double now(){
|
| ... | ... | |
| 55 | 55 |
|
| 56 | 56 |
double timestamp; |
| 57 | 57 |
|
| 58 |
int type; |
|
| 58 |
int gaze_type;
|
|
| 59 | 59 |
|
| 60 | 60 |
float pan, tilt, roll, vergence; |
| 61 | 61 |
float pan_offset, tilt_offset; |
| client/cpp/src/MiddlewareROS.cpp | ||
|---|---|---|
| 154 | 154 |
goal.pan_offset = target.pan_offset; |
| 155 | 155 |
|
| 156 | 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); |
|
| 157 |
goal.timestamp = ros::Time(target.timestamp); |
|
| 161 | 158 |
|
| 162 |
if (target.type == RobotGaze::ABSOLUTE){
|
|
| 159 |
if (target.gaze_type == RobotGaze::ABSOLUTE){
|
|
| 163 | 160 |
goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE; |
| 164 | 161 |
}else{
|
| 165 | 162 |
goal.gaze_type = hlrc_server::gazetargetGoal::GAZETARGET_RELATIVE; |
| client/python/hlrc_client/MiddlewareROS.py | ||
|---|---|---|
| 170 | 170 |
goal.vergence = gaze.vergence |
| 171 | 171 |
goal.pan_offset = gaze.pan_offset |
| 172 | 172 |
goal.tilt_offset = gaze.tilt_offset |
| 173 |
|
|
| 173 |
|
|
| 174 |
#type |
|
| 175 |
if (gaze.gaze_type == RobotGaze.ABSOLUTE): |
|
| 176 |
goal.gaze_type = gazetargetGoal.ABSOLUTE |
|
| 177 |
else: |
|
| 178 |
goal.gaze_type = gazetargetGoal.RELATIVE |
|
| 179 |
|
|
| 180 |
goal.timestamp = rospy.Time.from_sec(timestamp) |
|
| 181 |
|
|
| 182 |
|
|
| 174 | 183 |
#send the goal to the server |
| 175 | 184 |
self.gazetarget_client.send_goal(goal) |
| 176 | 185 |
|
| ... | ... | |
| 280 | 289 |
return emotionstateGoal.FEAR |
| 281 | 290 |
else: |
| 282 | 291 |
self.logger.error("invalid emotion type %d\n" % (value))
|
| 283 |
return emotionstateGoal.NEUTRAL |
|
| 292 |
return emotionstateGoal.NEUTRAL |
|
| client/python/hlrc_client/RobotGaze.py | ||
|---|---|---|
| 26 | 26 |
""" |
| 27 | 27 |
|
| 28 | 28 |
class RobotGaze: |
| 29 |
GAZETARGET_ABSOLUTE = 0 |
|
| 30 |
GAZETARGET_RELATIVE = 1 |
|
| 31 |
|
|
| 29 | 32 |
def __init__(self): |
| 30 | 33 |
self.pan = 0.0 |
| 31 | 34 |
self.tilt = 0.0 |
| ... | ... | |
| 33 | 36 |
self.vergence = 0.0 |
| 34 | 37 |
self.pan_offset = 0.0 |
| 35 | 38 |
self.tilt_offset = 0.0 |
| 39 |
self.gaze_type = GAZETARGET_ABSOLUTE |
|
| 40 |
self.timestamp = self.now() |
|
| 36 | 41 |
|
| 37 | 42 |
def __str__(self): |
| 38 |
return "RobotGaze = { PTR={%6.2f %6.2f %6.2f} vergence=%6.2f PT_offset={%6.2f %6.2f} }" \
|
|
| 39 |
% (self.pan, self.tilt,self.roll,self.vergence,self.pan_offset,self.tilt_offset) |
|
| 43 |
if (self.gaze_type == GAZETARGET_ABSOLUTE): |
|
| 44 |
type_s = "ABSOLUTE" |
|
| 45 |
else: |
|
| 46 |
type_s = "RELATIVE" |
|
| 47 |
return "RobotGaze = { PTR={%6.2f %6.2f %6.2f} vergence=%6.2f PT_offset={%6.2f %6.2f} [%s]}" \
|
|
| 48 |
% (self.pan, self.tilt,self.roll,self.vergence,self.pan_offset,self.tilt_offset,type_s) |
|
Also available in: Unified diff