Revision 0c8d22a5 src/server/eyebrow_motion_generator.cpp

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src/server/eyebrow_motion_generator.cpp
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#include "server/eyebrow_motion_generator.h"
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#include "server/server.h"
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/*
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* This file is part of humotion
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*
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* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de
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* http://opensource.cit-ec.de/projects/humotion
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*
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* This file may be licensed under the terms of the
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* GNU Lesser General Public License Version 3 (the ``LGPL''),
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* or (at your option) any later version.
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*
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* Software distributed under the License is distributed
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* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either
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* express or implied. See the LGPL for the specific language
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* governing rights and limitations.
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*
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* You should have received a copy of the LGPL along with this
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* program. If not, go to http://www.gnu.org/licenses/lgpl.html
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* or write to the Free Software Foundation, Inc.,
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* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
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*
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* The development of this software was supported by the
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* Excellence Cluster EXC 277 Cognitive Interaction Technology.
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* The Excellence Cluster EXC 277 is a grant of the Deutsche
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* Forschungsgemeinschaft (DFG) in the context of the German
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* Excellence Initiative.
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*/
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using namespace std;


  		




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using namespace humotion;


  		




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using namespace humotion::server;


  		




  
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#include "humotion/server/eyebrow_motion_generator.h"


  		




  
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#include "humotion/server/server.h"


  		




  
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// using namespace std;


  		




  
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// using namespace humotion;


  		




  
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// using namespace humotion::server;


  		




  
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using humotion::server::EyebrowMotionGenerator;


  		




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//! constructor


  		




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EyebrowMotionGenerator::EyebrowMotionGenerator(JointInterface *j) : MotionGenerator(j){


  		




  
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EyebrowMotionGenerator::EyebrowMotionGenerator(JointInterface *j) : MotionGenerator(j) {


  		




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}


  		




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//! destructor


  		




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EyebrowMotionGenerator::~EyebrowMotionGenerator(){


  		




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EyebrowMotionGenerator::~EyebrowMotionGenerator() {


  		




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}


  		




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//! calculate joint targets


  		




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void EyebrowMotionGenerator::calculate_targets(){


  		




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    //printf("> humotion: calculating eyebrow targets\n");


  		




  
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void EyebrowMotionGenerator::calculate_targets() {


  		




  
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    // printf("> humotion: calculating eyebrow targets\n");


  		




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    float eyebrow_left_target = requested_gaze_state.eyebrow_left;


  		




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    float eyebrow_right_target = requested_gaze_state.eyebrow_right;


  		




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    //store targets:


  		




  
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    // store targets


  		




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    joint_interface->set_target(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);


  		




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    joint_interface->set_target(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);


  		




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}


  		




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//! publish targets to motor boards:


  		




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void EyebrowMotionGenerator::publish_targets(){


  		




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    //publish values if there is an active gaze input within the last timerange


  		




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    if (gaze_target_input_active()){


  		




  
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void EyebrowMotionGenerator::publish_targets() {


  		




  
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    // publish values if there is an active gaze input within the last timerange


  		




  
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    if (gaze_target_input_active()) {


  		




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        joint_interface->publish_target(JointInterface::ID_EYES_LEFT_BROW);


  		




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        joint_interface->publish_target(JointInterface::ID_EYES_RIGHT_BROW);


  		




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    }


  		












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