Revision 10cae485 examples/meka/include/mekajointinterface.h

View differences:

examples/meka/include/mekajointinterface.h
19 19 
    //void fetch_speed(int id, double value, double timestamp);
20 20 
    void run();
21 21 

  		




  22
  
  
    
    enum JOINT_ID_ENUM{


  		




  23
  
  
    
        ICUB_ID_NECK_TILT = 0,


  		




  24
  
  
    
        ICUB_ID_NECK_ROLL = 1,


  		




  25
  
  
    
        ICUB_ID_NECK_PAN  = 2,


  		




  26
  
  
    
        ICUB_ID_EYES_BOTH_UD = 3,


  		




  27
  
  
    
        ICUB_ID_EYES_PAN = 4,


  		




  28
  
  
    
        ICUB_ID_EYES_VERGENCE = 5,


  		




  29
  
  
    
        //the following ids are used for remapping:


  		




  30
  
  
    
        ICUB_ID_EYES_LEFT_LR,


  		




  31
  
  
    
        ICUB_ID_EYES_RIGHT_LR,


  		




  32
  
  
    
        ICUB_ID_EYES_LEFT_LID_LOWER,


  		




  33
  
  
    
        ICUB_ID_EYES_LEFT_LID_UPPER,


  		




  34
  
  
    
        ICUB_ID_EYES_RIGHT_LID_LOWER,


  		




  35
  
  
    
        ICUB_ID_EYES_RIGHT_LID_UPPER,


  		




  36
  
  
    
        ICUB_ID_EYES_LEFT_BROW,


  		




  37
  
  
    
        ICUB_ID_EYES_RIGHT_BROW,


  		




  38
  
  
    
        ICUB_ID_LIP_LEFT_UPPER,


  		




  39
  
  
    
        ICUB_ID_LIP_LEFT_LOWER,


  		




  40
  
  
    
        ICUB_ID_LIP_CENTER_UPPER,


  		




  41
  
  
    
        ICUB_ID_LIP_CENTER_LOWER,


  		




  42
  
  
    
        ICUB_ID_LIP_RIGHT_UPPER,


  		




  43
  
  
    
        ICUB_ID_LIP_RIGHT_LOWER,


  		




  44
  
  
    
        ICUB_JOINT_ID_ENUM_SIZE


  		




  45
  
  
    
    };


  		




  46
  
  
    

  		




  47
  22
  
    
    static const int MAIN_LOOP_FREQUENCY = 50;


  		




  48
  23
  
    

  		




  49
  24
  
    
protected:


  		




  ......




  59
  34
  
    
    ros::Subscriber joint_state_subscriber;


  		




  60
  35
  
    
    ros::Publisher target_publisher;


  		




  61
  36
  
    

  		




  62
  
  
    

  		




  63
  37
  
    
    double get_timestamp_s();


  		




  64
  
  
    
    double target_angle[ICUB_JOINT_ID_ENUM_SIZE];


  		




  65
  
  
    
    double target_angle_previous[ICUB_JOINT_ID_ENUM_SIZE];


  		




  66
  38
  
    

  		




  67
  39
  
    
    void set_eyelid_angle(double angle);


  		




  68
  40
  
    
    void set_eyebrow_angle(int id);


  		












Also available in:  Unified diff