Revision 1f748ce7 examples/yarp_icub/src/icub_jointinterface.cpp

View differences:

examples/yarp_icub/src/icub_jointinterface.cpp
298 298 
    //printf("> TARGET PAN = %3.2f\n",target_angle[ICUB_ID_NECK_PAN]);
299 299 

  		




  300
  300
  
    

  		




  301
  
  
    
    //eyelids: unfortuantely the icub has only 1dof for eyelids, so we use only one dof here:


  		




  302
  
  
    
    face_interface_->set_eyelid_angle(target_angle_[ICUB_ID_EYES_RIGHT_LID_UPPER]);


  		




  
  301
  
    
    // eyelids: unfortuantely the icub has only 1dof for eyelids


  		




  
  302
  
    
    // therefore we can only use an opening value


  		




  
  303
  
    
    float opening_left  = target_angle_[ICUB_ID_EYES_LEFT_LID_UPPER]


  		




  
  304
  
    
                          - target_angle_[ICUB_ID_EYES_LEFT_LID_LOWER];


  		




  
  305
  
    
    float opening_right = target_angle_[ICUB_ID_EYES_RIGHT_LID_UPPER]


  		




  
  306
  
    
                          - target_angle_[ICUB_ID_EYES_RIGHT_LID_LOWER];


  		




  
  307
  
    
    float opening = (opening_left + opening_right) / 2.0;


  		




  
  308
  
    
    // send it to icub face if


  		




  
  309
  
    
    face_interface_->set_eyelid_angle(opening);


  		




  303
  310
  
    

  		




  304
  311
  
    
    //eyebrows are set using a special command as well:


  		




  305
  312
  
    
    face_interface_->set_eyebrow_angle(ICUB_ID_EYES_LEFT_BROW, target_angle_);


  		












Also available in:  Unified diff