Revision 0c8d22a5 include/humotion/server/controller.h

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include/humotion/server/controller.h
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* Excellence Initiative.
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*/
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#pragma once


  		




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#include "../gaze_state.h"


  		




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#include "../mouth_state.h"


  		




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#include "../timestamp.h"


  		




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#include "motion_generator.h"


  		




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#include "joint_interface.h"


  		




  
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#ifndef INCLUDE_HUMOTION_SERVER_CONTROLLER_H_


  		




  
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#define INCLUDE_HUMOTION_SERVER_CONTROLLER_H_


  		




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namespace humotion{


  		




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namespace server{


  		




  
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#include <vector>


  		




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class Controller{


  		




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public:


  		




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    Controller(JointInterface *j);


  		




  
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#include "humotion/gaze_state.h"


  		




  
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#include "humotion/mouth_state.h"


  		




  
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#include "humotion/server/joint_interface.h"


  		




  
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#include "humotion/server/motion_generator.h"


  		




  
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#include "humotion/timestamp.h"


  		




  
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namespace humotion {


  		




  
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namespace server {


  		




  
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class Controller {


  		




  
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 public:


  		




  
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    explicit Controller(JointInterface *j);


  		




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    ~Controller();


  		




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    void init_motion_generators();


  		




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    void calculate_targets();


  		




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    void publish_targets();


  		




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    void set_gaze_target(GazeState s);


  		




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    void set_mouth_target(MouthState s);


  		




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    void set_activated(void);


  		




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private:


  		




  
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 private:


  		




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    bool activated;


  		




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    void add_motion_generator(MotionGenerator *m);


  		




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    GazeState relative_gaze_to_absolute_gaze(GazeState relative);


  		




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    double last_known_absolute_target_pan;


  		




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    double last_known_absolute_target_tilt;


  		




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    double last_known_absolute_target_roll;


  		




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};


  		




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}


  		




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}


  		




  
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}  // namespace server


  		




  
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}  // namespace humotion


  		




  
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#endif  // INCLUDE_HUMOTION_SERVER_CONTROLLER_H_


  		












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