humotion

    float neck_pan_now  = get_current_position(JointInterface::ID_NECK_PAN);

    float neck_tilt_now = get_current_position(JointInterface::ID_NECK_TILT);

    float neck_roll_now = get_current_position(JointInterface::ID_NECK_ROLL);

    //reached target?

    float goal_diff   = fabs(get_current_gaze().distance_pt_abs(requested_gaze_state));

    neck_tilt_target += get_breath_offset();

    //pass parameters to reflexxes api:

    //call reflexxes to handle profile calculation:

    reflexxes_calculate_profile();

    joint_interface->set_target_position(JointInterface::ID_NECK_TILT,

                                         reflexxes_position_output->NewPositionVector->VecData[1],

                                         reflexxes_position_output->NewVelocityVector->VecData[1]);

    joint_interface->set_target_position(JointInterface::ID_NECK_ROLL,

                                         reflexxes_position_output->NewPositionVector->VecData[2],

                                         reflexxes_position_output->NewVelocityVector->VecData[2]);

}

//! publish targets to motor boards:

//! \param dof id of joint

//! \param target angle

//! \param current angle

    //get distance to target:

    //get max speed: according to [guitton87] there is a relation between distance_abs and v_max_head:

    //v_max = 4.39 * d_total + 106.0 (in degrees)

    ///printf("MAX SPEED %4.2f / max accel %4.2f\n",max_speed, max_accel);

    //feed reflexxes api with data

}