Revision 25400c71 examples/yarp_icub/src/icub_jointinterface.cpp

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examples/yarp_icub/src/icub_jointinterface.cpp
197 197 
//! \param id of joint
198 198 
//! \param float value of position
199 199 
void iCubJointInterface::store_icub_joint_target(int icub_id, float position, float velocity) {
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    //cout << "store_icub_joint_target(" << icub_id << ", " << position << ", ..)\n";
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    // cout << "store_icub_joint_target(" << icub_id << ", " << position << ", ..)\n";
201 201 

  		




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    if ((icub_id == ICUB_ID_NECK_PAN) || (icub_id == ICUB_ID_EYES_VERGENCE)) {


  		




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        // icub uses an inverted neck pan specification


  		




  ......




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    // send it to icub face if


  		




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    face_interface_->set_eyelid_angle(opening);


  		




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


  		




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


  		




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    face_interface_->set_eyebrow_angle(ICUB_ID_EYES_LEFT_BROW, target_angle_);


  		




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    face_interface_->set_eyebrow_angle(ICUB_ID_EYES_RIGHT_BROW, target_angle_);


  		




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    //mouth


  		




  
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    // mouth


  		




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    face_interface_->set_mouth(target_angle_);


  		




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    // store joint values which we do not handle on icub here:


  		




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    double timestamp = humotion::Timestamp::now().to_seconds();


  		




  
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    humotion::Timestamp timestamp = humotion::Timestamp::now();


  		




  
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    JointInterface::store_incoming_position(ID_LIP_LEFT_UPPER,


  		




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                                            target_angle_[ICUB_ID_LIP_LEFT_UPPER], timestamp);


  		




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    JointInterface::store_incoming_position(ID_LIP_LEFT_LOWER,


  		












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