Revision e7717d32

View differences:

client/python/hlrc_client/RobotGaze.py
45 45 
            type_s = "ABSOLUTE"
46 46 
        else:
47 47 
            type_s = "RELATIVE"
48 
        return "RobotGaze = { PTR={%6.2f %6.2f %6.2f} vergence=%6.2f PT_offset={%6.2f %6.2f} [%s]}" \
49 
                % (self.pan, self.tilt, self.roll, self.vergence, self.pan_offset, self.tilt_offset, type_s)
48 
        return "RobotGaze = { PTR={%6.2f %6.2f %6.2f} vergence=%6.2f PT_offset={%6.2f %6.2f} [%s, ts=%s]}" \
49 
                % (self.pan, self.tilt, self.roll, self.vergence, self.pan_offset, self.tilt_offset, type_s, self.timestamp)
client/python/hlrc_client/__init__.py
4 4 
from RobotGaze import RobotGaze
5 5 
from RobotAnimation import RobotAnimation
6 6 
from RobotMouth import RobotMouth
7 
from RobotTimestamp import RobotTimestamp
server/include/ROS/GazeCallbackWrapperROS.h
46 46 
        feedback.result = 1;
47 47 

  		




  48
  48
  
    
        hlrc_server::gazetargetGoalConstPtr request = goal;


  		




  49
  
  
    
        //printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f)\n", request->pan, request->tilt, request->roll, request->vergence);


  		




  
  49
  
    
        printf("> incoming gaze (p=%3.1f t=%3.1f r=%3.1f / v=%3.1f) [%s ts=%f]\n",


  		




  
  50
  
    
               request->pan,


  		




  
  51
  
    
               request->tilt,


  		




  
  52
  
    
               request->roll,


  		




  
  53
  
    
               request->vergence,


  		




  
  54
  
    
               request->gaze_type==hlrc_server::gazetargetGoal::GAZETARGET_ABSOLUTE?"ABSOLUTE":"RELATIVE",


  		




  
  55
  
    
               request->gaze_timestamp.toSec()


  		




  
  56
  
    
        );


  		




  50
  57
  
    

  		




  51
  58
  
    
        humotion::GazeState gaze_state;


  		




  52
  59
  
    

  		












  

    
      server/src/Arbiter.cpp
    
  





  254
  254
  
    
    //add offset values from user:


  		




  255
  255
  
    
    gaze_state.pan_offset  += requested_gaze_state.pan_offset;


  		




  256
  256
  
    
    gaze_state.tilt_offset += requested_gaze_state.tilt_offset;


  		




  257
  
  
    

  		




  258
  257
  
    
}


  		




  259
  258
  
    

  		




  260
  259
  
    
void Arbiter::override_by_emotion(){


  		




  ......




  301
  300
  
    
}


  		




  302
  301
  
    

  		




  303
  302
  
    
humotion::GazeState Arbiter::get_gaze_state(){


  		




  
  303
  
    
    //gaze_state.dump();


  		




  304
  304
  
    
    return gaze_state;


  		




  305
  305
  
    
}


  		




  306
  306
  
    

  		












Also available in:  Unified diff