Revision 21444915 src/server/eye_motion_generator.cpp

View differences:

src/server/eye_motion_generator.cpp
60 60 
    float max_accel = fmin(80000.0, 1526.53*distance_abs + 10245.4);
61 61 

  		




  62
  62
  
    
    //feed reflexxes api with data


  		




  63
  
  
    
    reflexxes_set_input(dof, target, max_speed, max_accel);


  		




  
  63
  
    
    reflexxes_set_input(dof, target, now, max_speed, max_accel);


  		




  64
  64
  
    
}


  		




  65
  65
  
    

  		




  66
  66
  
    
//! calculate joint targets


  		




  ......




  100
  100
  
    
    setup_eyemotion(0, eye_pan_l_target, eye_pan_l_now);


  		




  101
  101
  
    
    setup_eyemotion(1, eye_pan_r_target, eye_pan_r_now);


  		




  102
  102
  
    
    setup_eyemotion(2, eye_tilt_target, eye_tilt_now);


  		




  
  103
  
    
    cout << "EYE MOTION 2 " << eye_tilt_target << " now=" << eye_tilt_now << "\n";


  		




  103
  104
  
    

  		




  104
  105
  
    
    //call reflexxes to handle profile calculation:


  		




  105
  106
  
    
    reflexxes_calculate_profile();


  		




  106
  107
  
    

  		




  107
  108
  
    
    //tell the joint about the new values:


  		




  108
  
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LR, reflexxes_position_output->NewPositionVector->VecData[0]);


  		




  109
  
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LR, reflexxes_position_output->NewPositionVector->VecData[1]);


  		




  110
  
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_BOTH_UD,  reflexxes_position_output->NewPositionVector->VecData[2]);


  		




  
  109
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LR,


  		




  
  110
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[0],


  		




  
  111
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[0]);


  		




  
  112
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LR,


  		




  
  113
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[1],


  		




  
  114
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[1]);


  		




  
  115
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_BOTH_UD,


  		




  
  116
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[2],


  		




  
  117
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[2]);


  		




  
  118
  
    

  		




  
  119
  
    
    cout << reflexxes_position_output->NewPositionVector->VecData[2] << " " << reflexxes_position_output->NewVelocityVector->VecData[2] ;


  		




  111
  120
  
    
}


  		




  112
  121
  
    

  		




  113
  122
  
    

  		












Also available in:  Unified diff