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>

#include "RobotTimestamp.h"

class RobotGaze {

public:

        RobotGaze() : gaze_timestamp() {

                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

        };

        RobotTimestamp gaze_timestamp;

        int gaze_type;

        float pan, tilt, roll, vergence;

        float pan_offset, tilt_offset;

};