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

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


  		




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#include "eye_motion_generator.h"


  		




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#include "boost/date_time/posix_time/posix_time.hpp"


  		




  
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#ifndef INCLUDE_HUMOTION_SERVER_EYELID_MOTION_GENERATOR_H_


  		




  
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#define INCLUDE_HUMOTION_SERVER_EYELID_MOTION_GENERATOR_H_


  		




  
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#include <boost/date_time/posix_time/posix_time.hpp>


  		




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#include <boost/thread/thread_time.hpp>


  		




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namespace humotion{


  		




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namespace server{


  		




  
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#include "humotion/server/eye_motion_generator.h"


  		




  
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namespace humotion {


  		




  
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namespace server {


  		




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class EyelidMotionGenerator : public EyeMotionGenerator{


  		




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public:


  		




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    EyelidMotionGenerator(JointInterface *j);


  		




  
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class EyelidMotionGenerator : public EyeMotionGenerator {


  		




  
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 public:


  		




  
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    explicit EyelidMotionGenerator(JointInterface *j);


  		




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    ~EyelidMotionGenerator();


  		




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    void calculate_targets();


  		




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private:


  		




  
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 private:


  		




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    bool saccade_blink_active;


  		




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    bool saccade_blink_requested;


  		




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    enum SIDE_ID{


  		




  
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    enum SIDE_ID {


  		




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        LEFT = 0,


  		




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        RIGHT,


  		




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        SIDE_ID_SIZE


  		




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    void handle_eyeblink_timeout();


  		




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    void override_lids_for_eyeblink();


  		




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    void check_for_saccade();


  		




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    void start_eyeblink(int side, int duration=EYEBLINK_DURATION_MS);


  		




  
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    void start_eyeblink(int side, int duration = EYEBLINK_DURATION_MS);


  		




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    void close_eyelid(int joint_id);


  		




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    boost::system_time periodic_blink_start_time;


  		




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    boost::system_time eyeblink_timeout[SIDE_ID_SIZE];


  		




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    boost::system_time eyeblink_blocked_timeout;


  		




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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_EYELID_MOTION_GENERATOR_H_


  		












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