Revision 35b3ca25 src/server/eyebrow_motion_generator.cpp

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src/server/eyebrow_motion_generator.cpp
22 22 
    float eyebrow_right_target = requested_gaze_state.eyebrow_right;
23 23 

  		




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    //store targets:


  		




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    joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);


  		




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    joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);


  		




  
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    joint_interface->set_target(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);


  		




  
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    joint_interface->set_target(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);


  		




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}


  		




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//! publish targets to motor boards:


  		




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void EyebrowMotionGenerator::publish_targets(){


  		




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


  		




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    if (gaze_target_input_active()){


  		




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        joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_BROW);


  		




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        joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_BROW);


  		




  
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        joint_interface->publish_target(JointInterface::ID_EYES_LEFT_BROW);


  		




  
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        joint_interface->publish_target(JointInterface::ID_EYES_RIGHT_BROW);


  		




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    }


  		




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}


  		












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