Revision c65b5f82 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){


  		




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            return t.sec + t.nsec/1000000000.0;


  		




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    }


  		




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    void call(const GoalConstPtr &goal){


  		




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        feedback.result = 1;


  		




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  ......




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        gaze_state.roll  = request->roll;


  		




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        //use timestamp from request


  		




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


  		




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


  		




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        if (request->gaze_type == hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE){


  		




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            gaze_state.gaze_type = humotion::GazeState::GAZETYPE_ABSOLUTE;


  		




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        }else{


  		












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