Revision 35b3ca25 src/server/eye_motion_generator.cpp

View differences:

src/server/eye_motion_generator.cpp
124 124 
    reflexxes_calculate_profile();
125 125 

  		




  126
  126
  
    
    //tell the joint about the new values:


  		




  127
  
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LR,


  		




  128
  
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[0],


  		




  129
  
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[0]);


  		




  130
  
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LR,


  		




  131
  
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[1],


  		




  132
  
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[1]);


  		




  133
  
  
    
    joint_interface->set_target_position(JointInterface::ID_EYES_BOTH_UD,


  		




  134
  
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[2],


  		




  135
  
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[2]);


  		




  
  127
  
    
    joint_interface->set_target(JointInterface::ID_EYES_LEFT_LR,


  		




  
  128
  
    
                                reflexxes_position_output->NewPositionVector->VecData[0],


  		




  
  129
  
    
                                reflexxes_position_output->NewVelocityVector->VecData[0]);


  		




  
  130
  
    
    joint_interface->set_target(JointInterface::ID_EYES_RIGHT_LR,


  		




  
  131
  
    
                                reflexxes_position_output->NewPositionVector->VecData[1],


  		




  
  132
  
    
                                reflexxes_position_output->NewVelocityVector->VecData[1]);


  		




  
  133
  
    
    joint_interface->set_target(JointInterface::ID_EYES_BOTH_UD,


  		




  
  134
  
    
                                reflexxes_position_output->NewPositionVector->VecData[2],


  		




  
  135
  
    
                                reflexxes_position_output->NewVelocityVector->VecData[2]);


  		




  136
  136
  
    

  		




  137
  137
  
    
    cout << reflexxes_position_output->NewPositionVector->VecData[2] << " " << reflexxes_position_output->NewVelocityVector->VecData[2] ;


  		




  138
  138
  
    
}


  		




  ......




  142
  142
  
    
void EyeMotionGenerator::publish_targets(){


  		




  143
  143
  
    
    //publish values if there is an active gaze input within the last timerange


  		




  144
  144
  
    
    if (gaze_target_input_active()){


  		




  145
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_LR);


  		




  146
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_LR);


  		




  147
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_EYES_BOTH_UD);


  		




  
  145
  
    
        joint_interface->publish_target(JointInterface::ID_EYES_LEFT_LR);


  		




  
  146
  
    
        joint_interface->publish_target(JointInterface::ID_EYES_RIGHT_LR);


  		




  
  147
  
    
        joint_interface->publish_target(JointInterface::ID_EYES_BOTH_UD);


  		




  148
  148
  
    
    }


  		




  149
  149
  
    
}


  		












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