/src/server/motion_generator.cpp - Diff - humotion - Research for Cognitive Interaction

Revision 0c8d22a5 src/server/motion_generator.cpp

     * Excellence Initiative.
     */
     #include "server/motion_generator.h"
     #include "boost/date_time/posix_time/posix_time.hpp"
     #include <boost/date_time/posix_time/posix_time.hpp>
     #include "humotion/server/motion_generator.h"
     using namespace std;
     using namespace humotion;
     using namespace humotion::server;
     using namespace boost;
     using humotion::server::MotionGenerator;
     //! constructor
     MotionGenerator::MotionGenerator(JointInterface *j){
     MotionGenerator::MotionGenerator(JointInterface *j) {
         joint_interface = j;
         last_mouth_target_update = posix_time::ptime(posix_time::min_date_time);
         last_gaze_target_update  = posix_time::ptime(posix_time::min_date_time);
         last_mouth_target_update = boost::posix_time::ptime(boost::posix_time::min_date_time);
         last_gaze_target_update  = boost::posix_time::ptime(boost::posix_time::min_date_time);
+    }
     //! destructor
     MotionGenerator::~MotionGenerator(){
     MotionGenerator::~MotionGenerator() {
+    }
     //! fetch the latest position and velocity and return the timestamp of that dataset
-...
     //! fetch the latest (=current) speed of a joint
     //! \param joint_id
     //! \return float value of joint speed
     float MotionGenerator::get_current_speed(int joint_id){
     float MotionGenerator::get_current_speed(int joint_id) {
         return joint_interface->get_ts_speed(joint_id).get_newest_value();
+    }
     //! fetch the latest (=current) position of a joint
     //! \param joint_id
     //! \return float value of joint position
     float MotionGenerator::get_current_position(int joint_id){
     float MotionGenerator::get_current_position(int joint_id) {
         /*Timestamp tsl = joint_interface->get_ts_position(joint_id).get_last_timestamp();
         Timestamp now = Timestamp::now();
         Timestamp diff=now-tsl;
-...
     //! update gaze target:
     //! \param GazeState with target values for the overall gaze
     void MotionGenerator::set_gaze_target(GazeState new_gaze_target){
         //store value for next iteration
     void MotionGenerator::set_gaze_target(GazeState new_gaze_target) {
         // store value for next iteration
         requested_gaze_state        = new_gaze_target;
         //keep track if the gaze targets are comming in regulary
         last_gaze_target_update = get_system_time();
         // keep track if the gaze targets are comming in regulary
         last_gaze_target_update = boost::get_system_time();
+    }
     //! update mouth state:
     //! \param MouthState with target values for the mouth joints
     void MotionGenerator::set_mouth_target(MouthState s){
         //store value
     void MotionGenerator::set_mouth_target(MouthState s) {
         // store value
         requested_mouth_target = s;
         //keep track if the mouth targets are comming in regulary
         last_mouth_target_update = get_system_time();
         // keep track if the mouth targets are comming in regulary
         last_mouth_target_update = boost::get_system_time();
+    }
     //! was there incoming gaze data the last second?
     //! \return true if there was data incoming in the last second, false otherwise
     bool MotionGenerator::gaze_target_input_active(){
         if (last_gaze_target_update  + posix_time::milliseconds(1000) > get_system_time() ){
             //incoming data -> if gaze is disabled, enable it!
     bool MotionGenerator::gaze_target_input_active() {
         if (last_gaze_target_update  + boost::posix_time::milliseconds(1000)
                 > boost::get_system_time() ) {
             // incoming data -> if gaze is disabled, enable it!
             joint_interface->enable_gaze_joints();
             return true;
         }else{
             //no incoming data, disable!
             joint_interface->disable_gaze_joints();
             return false;
+        }
         // else: no incoming data, disable!
         joint_interface->disable_gaze_joints();
         return false;
+    }
     //! was there incoming mouth data the last second?
     //! \return true if there was data incoming in the last second, false otherwise
     bool MotionGenerator::mouth_target_input_active(){
         if (last_mouth_target_update + posix_time::milliseconds(1000) > get_system_time() ){
             //incoming data -> if mouth is disabled, enable it!
     bool MotionGenerator::mouth_target_input_active() {
         if (last_mouth_target_update + boost::posix_time::milliseconds(1000)
                 > boost::get_system_time() ) {
             // incoming data -> if mouth is disabled, enable it!
             joint_interface->enable_mouth_joints();
             return true;
         }else{
             //no incoming data, disable!
             joint_interface->disable_mouth_joints();
             return false;
+        }
         // else: no incoming data, disable!
         joint_interface->disable_mouth_joints();
         return false;
+    }
     //! limit target to min/max bounds:
     float MotionGenerator::limit_target(int joint_id, float val){
     float MotionGenerator::limit_target(int joint_id, float val) {
         assert(joint_id < JointInterface::JOINT_ID_ENUM_SIZE);
         //fetch min/max for joint:
         // fetch min/max for joint:
         float min = joint_interface->get_joint_min(joint_id);
         float max = joint_interface->get_joint_max(joint_id);
         if (max < min){
             printf("> ERROR: how can min (%4.2f) be bigger than max (%4.2f)?? FIX THIS! EXITING NOW\n",min,max);
         if (max < min) {
             printf("> ERROR: how can min (%4.2f) be bigger than max (%4.2f)?? EXITING NOW\n", min, max);
             printf("> HINT : did you initialize the joints' min/max positions properly?\n");
             exit(0);
+        }

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