Revision 1c758459 src/server/controller.cpp

View differences:

src/server/controller.cpp
107 107 
    double roll      = joint_interface->get_ts_position(JointInterface::ID_NECK_ROLL).get_interpolated_value(relative_target_timestamp);
108 108 

  		




  109
  109
  
    
    //build up absolute target:


  		




  110
  
  
    
    absolute_gaze.type  = GazeState::ABSOLUTE;


  		




  
  110
  
    
    absolute_gaze.gaze_type  = GazeState::GAZETYPE_ABSOLUTE;


  		




  111
  111
  
    
    absolute_gaze.pan   = pan + relative.pan;


  		




  112
  112
  
    
    absolute_gaze.tilt  = tilt + relative.tilt;


  		




  113
  113
  
    
    absolute_gaze.roll  = roll + relative.roll;


  		




  ......




  137
  137
  
    
    GazeState target_gaze;


  		




  138
  138
  
    

  		




  139
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    //relative or absolute gaze update?


  		




  140
  
  
    
    if (new_gaze_target.type == GazeState::RELATIVE){


  		




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


  		




  141
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        //relative gaze target -> calculate target angles


  		




  142
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        target_gaze = relative_gaze_to_absolute_gaze(new_gaze_target);


  		




  143
  143
  
    
    }else{


  		












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