humotion

#include "server/eyebrow_motion_generator.h"

#include "server/server.h"

using namespace std;

using namespace humotion;

using namespace humotion::server;

//! constructor

EyebrowMotionGenerator::EyebrowMotionGenerator(JointInterface *j) : MotionGenerator(j){

}

//! destructor

EyebrowMotionGenerator::~EyebrowMotionGenerator(){

}

//! calculate joint targets

void EyebrowMotionGenerator::calculate_targets(){

    //printf("> humotion: calculating eyebrow targets\n");

    float eyebrow_left_target = requested_gaze_state.eyebrow_left;

    float eyebrow_right_target = requested_gaze_state.eyebrow_right;

    //store targets:

    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);

    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);

}

//! publish targets to motor boards:

void EyebrowMotionGenerator::publish_targets(){

    //publish values if there is an active gaze input within the last timerange

    if (gaze_target_input_active()){

        joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_BROW);

        joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_BROW);

    }

}