Revision 10cae485 src/server/eye_motion_generator.cpp

View differences:

src/server/eye_motion_generator.cpp
86 86 
        eye_tilt_target  = 0.0;
87 87 
    }
88 88 

  		




  
  89
  
    
    //check and take care of limits


  		




  
  90
  
    
    eye_pan_l_target = limit_target(JointInterface::ID_EYES_LEFT_LR, eye_pan_l_target);


  		




  
  91
  
    
    eye_pan_r_target = limit_target(JointInterface::ID_EYES_RIGHT_LR, eye_pan_r_target);


  		




  
  92
  
    
    eye_tilt_target = limit_target(JointInterface::ID_EYES_BOTH_UD, eye_tilt_target);


  		




  
  93
  
    

  		




  89
  94
  
    
    //fetch current angles:


  		




  90
  95
  
    
    float eye_pan_l_now = get_current_position(JointInterface::ID_EYES_LEFT_LR);


  		




  91
  96
  
    
    float eye_pan_r_now = get_current_position(JointInterface::ID_EYES_RIGHT_LR);


  		












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