Revision 1c758459

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CMakeLists.txt
132 132 
## Specify additional locations of header files
133 133 
## Your package locations should be listed before other locations
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include_directories (BEFORE ${Boost_INCLUDE_DIRS} ${REFLEXXES_INCLUDE_DIRS})
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include_directories(include/humotion)
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include_directories( ${catkin_INCLUDE_DIRS})
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include_directories(BEFORE include)
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include_directories(BEFORE include/humotion)
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#make sure to use ros messages from current build
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include_directories(BEFORE ${CATKIN_DEVEL_PREFIX}/include)
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#this should be appended:
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include_directories(${catkin_INCLUDE_DIRS})
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#link_directories (${Boost_LIBRARY_DIRS} ${REFLEXXES_LIBRARY_DIRS} ${catkin_LIBRARY_DIRS})
138 142 

  		




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#####################


  		




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# PLEASE DO NOT REMOVE THIS! This is a hack necessary for qtcreator to show cmake header files in the project view!


  		




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file(GLOB DUMMY_HEADER_LIST RELATIVE ${CMAKE_CURRENT_SOURCE_DIR} include/humotion/*.h  include/humotion/client/*.h  include/humotion/server/*.h srv/*.srv msg/*.msg etc/*)


  		












  

    
      include/humotion/gaze_state.h
    
  





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        float roll_offset;


  		




  47
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        //pan,tilt,roll can be relative or absolute


  		




  49
  
  
    
        int type;


  		




  
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        int gaze_type;


  		




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        //when was this target requested?


  		




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        double timestamp;


  		




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        //is this relative or


  		




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        enum GAZE_STATE_TYPE{


  		




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            ABSOLUTE=0,


  		




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            RELATIVE=1,


  		




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            OVERRIDE=2


  		




  
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            GAZETYPE_ABSOLUTE=0,


  		




  
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            GAZETYPE_RELATIVE=1,


  		




  
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            GAZETYPE_OVERRIDE=2


  		




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        };


  		




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        //


  		












  

    
      msg/gaze.msg
    
  





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Header header


  		




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#type of pan/tilt/roll targets


  		




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int32 type


  		




  5
  
  
    
int32 ABSOLUTE=0


  		




  6
  
  
    
int32 RELATIVE=1


  		




  
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int32 gaze_type


  		




  
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int32 GAZETYPE_ABSOLUTE=0


  		




  
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int32 GAZETYPE_RELATIVE=1


  		




  7
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  8
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float32 pan


  		




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float32 tilt


  		












  

    
      src/client/middleware_ros.cpp
    
  





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#ifdef ROS_SUPPORT


  		




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#include <humotion/mouth.h>


  		




  33
  
  
    
#include <humotion/gaze.h>


  		




  
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#include "humotion/mouth.h"


  		




  
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#include "humotion/gaze.h"


  		




  34
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#include <boost/range/algorithm/remove_if.hpp>


  		




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#include <boost/algorithm/string/classification.hpp>


  		




  36
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  ......




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    msg.eyeblink_request_left = gaze_state.eyeblink_request_left;


  		




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    msg.eyeblink_request_right = gaze_state.eyeblink_request_right;


  		




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    if (gaze_state.type == GazeState::ABSOLUTE){


  		




  135
  
  
    
        msg.type = humotion::gaze::ABSOLUTE;


  		




  
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    if (gaze_state.gaze_type == GazeState::GAZETYPE_ABSOLUTE){


  		




  
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        msg.gaze_type = humotion::gaze::GAZETYPE_ABSOLUTE;


  		




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    }else{


  		




  137
  
  
    
        msg.type = humotion::gaze::RELATIVE;


  		




  
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        msg.gaze_type = humotion::gaze::GAZETYPE_RELATIVE;


  		




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    }


  		




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    //add position to send queue


  		












  

    
      src/gaze_state.cpp
    
  





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    eyebrow_left   = -3.0;


  		




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    eyebrow_right  = 3.0;


  		




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  48
  
  
    
    type = ABSOLUTE;


  		




  
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    gaze_type = GAZETYPE_ABSOLUTE;


  		




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    eyeblink_request_right = 0;


  		




  51
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    eyeblink_request_left  = 0;


  		




  ......




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           pan, pan_offset, tilt, tilt_offset, roll, roll_offset, vergence,


  		




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           eyelid_opening_upper,eyelid_opening_lower,


  		




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           eyebrow_left, eyebrow_right,


  		




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           (type==ABSOLUTE?"absolute":(type==RELATIVE?"relative":(type==OVERRIDE?"override":"!INVALID!"))),


  		




  
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           (gaze_type==GAZETYPE_ABSOLUTE?"absolute":(gaze_type==GAZETYPE_RELATIVE?"relative":(gaze_type==GAZETYPE_OVERRIDE?"override":"!INVALID!"))),


  		




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           eyeblink_request_left, eyeblink_request_right


  		




  65
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           );


  		




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}


  		












  

    
      src/server/controller.cpp
    
  





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    double roll      = joint_interface->get_ts_position(JointInterface::ID_NECK_ROLL).get_interpolated_value(relative_target_timestamp);


  		




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    //build up absolute target:


  		




  110
  
  
    
    absolute_gaze.type  = GazeState::ABSOLUTE;


  		




  
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    absolute_gaze.gaze_type  = GazeState::GAZETYPE_ABSOLUTE;


  		




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    absolute_gaze.pan   = pan + relative.pan;


  		




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    absolute_gaze.tilt  = tilt + relative.tilt;


  		




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    absolute_gaze.roll  = roll + relative.roll;


  		




  ......




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    GazeState target_gaze;


  		




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    //relative or absolute gaze update?


  		




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    if (new_gaze_target.type == GazeState::RELATIVE){


  		




  
  140
  
    
    if (new_gaze_target.gaze_type == GazeState::GAZETYPE_RELATIVE){


  		




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        //relative gaze target -> calculate target angles


  		




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        target_gaze = relative_gaze_to_absolute_gaze(new_gaze_target);


  		




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    }else{


  		












  

    
      src/server/gaze_motion_generator.cpp
    
  





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//! update gaze target:


  		




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//! \param GazeState with target values for the overall gaze


  		




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void GazeMotionGenerator::set_gaze_target(GazeState new_gaze_target){


  		




  55
  
  
    
    if (requested_gaze_state.type == GazeState::RELATIVE){


  		




  56
  
  
    
        //relative gaze target -> calculate target angle:


  		




  57
  
  
    
        printf("> FIXME: add code to interpolate the current position based on timestamp of gaze correction\n");


  		




  58
  
  
    
        exit(0);


  		




  
  55
  
    
    if (requested_gaze_state.gaze_type == GazeState::GAZETYPE_RELATIVE){


  		




  
  56
  
    
        printf("> ERROR: gaze targets should be converted to absolute before calling this\n");


  		




  
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        exit(EXIT_FAILURE);


  		




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    }


  		




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    //check magnitude of gaze change to detect eye-neck saccades:


  		












  

    
      src/server/middleware_ros.cpp
    
  





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    GazeState gaze_state;


  		




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    ///printf("> incoming gaze_target [P:%3.1f, T:%3.1f, R:%3.1f] %s\n", msg->pan, msg->tilt, msg->roll, msg->type==humotion::gaze::ABSOLUTE?"ABSOLUTE":"RELATIVE");


  		




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    gaze_state.type = msg->type;


  		




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    gaze_state.pan  = msg->pan;


  		




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    gaze_state.tilt = msg->tilt;


  		




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    gaze_state.roll = msg->roll;


  		




  ......




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    gaze_state.eyeblink_request_left = msg->eyeblink_request_left;


  		




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    gaze_state.eyeblink_request_right = msg->eyeblink_request_right;


  		




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  129
  
    
    if (msg->gaze_type == humotion::gaze::GAZETYPE_ABSOLUTE){


  		




  
  130
  
    
        gaze_state.gaze_type = GazeState::GAZETYPE_ABSOLUTE;


  		




  
  131
  
    
    }else{


  		




  
  132
  
    
        gaze_state.gaze_type = GazeState::GAZETYPE_RELATIVE;


  		




  
  133
  
    
    }


  		




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    gaze_state.timestamp = convert_ros_to_timestamp_ms(msg->header.stamp);


  		




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    controller->set_gaze_target(gaze_state);


  		












  

    
      src/server/neck_motion_generator.cpp
    
  





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    float max_speed = (CONST_GUITTON87_A * distance_abs + CONST_GUITTON87_B);


  		




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    //max accel: 	assuming linear acceleration we have


  		




  184
  
  
    
    // v ^


  		




  185
  
  
    
    //   |  / \


  		




  186
  
  
    
    //   | /   \


  		




  187
  
  
    
    //   |/_____\___> t


  		




  188
  
  
    
    //


  		




  
  184
  
    
    /* v ^


  		




  
  185
  
    
    *   |  / \


  		




  
  186
  
    
    *   | /   \


  		




  
  187
  
    
    *   |/_____\___> t


  		




  
  188
  
    
    */


  		




  189
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    // d_total = 2 * 1/2 * a * (t_total/2)^2 = 1/4 * a * t_total^2


  		




  190
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    // as we use linear accel we have


  		




  191
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    // v_max = a * t_total/2  --> t_total = 2*v_max / a


  		












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