Revision 32327f15 src/server/gaze_motion_generator.cpp

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src/server/gaze_motion_generator.cpp
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//! constructor


  		




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GazeMotionGenerator::GazeMotionGenerator(JointInterface *j, int dof, float t) : ReflexxesMotionGenerator(j, dof, t){


  		




  
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GazeMotionGenerator::GazeMotionGenerator(JointInterface *j, int dof, float t)


  		




  
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    : ReflexxesMotionGenerator(j, dof, t){


  		




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}


  		




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//! destructor


  		




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    float dist = fabs(requested_gaze_state.distance_pt_abs(new_gaze_target));


  		




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    //check requested speed


  		




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    float speed = fabs(requested_gaze_state.distance_pt_abs(new_gaze_target)) / (new_gaze_target.timestamp-requested_gaze_state.timestamp);


  		




  
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    float speed = fabs(requested_gaze_state.distance_pt_abs(new_gaze_target)) / (new_gaze_target.timestamp.to_seconds()-requested_gaze_state.timestamp.to_seconds());


  		




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    //check magnitude and speed of gaze change to detect eye-neck saccades:


  		




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    if (dist > NECK_SACCADE_THRESHOLD){


  		












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