Revision 35b3ca25 src/server/eyelid_motion_generator.cpp
| src/server/eyelid_motion_generator.cpp | ||
|---|---|---|
| 77 | 77 |
//limit target angles: |
| 78 | 78 |
eyelid_upper_left_target = limit_target(JointInterface::ID_EYES_LEFT_LID_UPPER, eyelid_upper_left_target); |
| 79 | 79 |
eyelid_lower_left_target = limit_target(JointInterface::ID_EYES_LEFT_LID_LOWER, eyelid_lower_left_target); |
| 80 |
eyelid_upper_right_target = limit_target(JointInterface::ID_EYES_RIGHT_LID_UPPER, eyelid_upper_right_target);
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| 81 |
eyelid_lower_right_target = limit_target(JointInterface::ID_EYES_RIGHT_LID_LOWER, eyelid_lower_right_target);
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| 80 |
eyelid_upper_right_target = limit_target(JointInterface::ID_EYES_RIGHT_LID_UPPER, eyelid_upper_right_target); |
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| 81 |
eyelid_lower_right_target = limit_target(JointInterface::ID_EYES_RIGHT_LID_LOWER, eyelid_lower_right_target); |
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| 82 | 82 |
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| 83 | 83 |
//(temporarily) store the target |
| 84 |
joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LID_UPPER, eyelid_upper_left_target, 0.0);
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| 85 |
joint_interface->set_target_position(JointInterface::ID_EYES_LEFT_LID_LOWER, eyelid_lower_left_target, 0.0);
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| 86 |
joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LID_UPPER, eyelid_upper_right_target, 0.0);
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| 87 |
joint_interface->set_target_position(JointInterface::ID_EYES_RIGHT_LID_LOWER, eyelid_lower_right_target, 0.0);
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| 84 |
joint_interface->set_target(JointInterface::ID_EYES_LEFT_LID_UPPER, eyelid_upper_left_target, 0.0); |
|
| 85 |
joint_interface->set_target(JointInterface::ID_EYES_LEFT_LID_LOWER, eyelid_lower_left_target, 0.0); |
|
| 86 |
joint_interface->set_target(JointInterface::ID_EYES_RIGHT_LID_UPPER, eyelid_upper_right_target, 0.0);
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| 87 |
joint_interface->set_target(JointInterface::ID_EYES_RIGHT_LID_LOWER, eyelid_lower_right_target, 0.0);
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| 88 | 88 |
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| 89 | 89 |
//check for saccade |
| 90 | 90 |
check_for_saccade(); |
| ... | ... | |
| 221 | 221 |
//use the upper value + 10 deg as close state: |
| 222 | 222 |
value = joint_interface->get_joint_min(JointInterface::ID_EYES_LEFT_LID_UPPER) + 10.0; |
| 223 | 223 |
//overwrite last target_ |
| 224 |
joint_interface->set_target_position(joint_id, value, 0.0);
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|
| 224 |
joint_interface->set_target(joint_id, value, 0.0); |
|
| 225 | 225 |
break; |
| 226 | 226 |
|
| 227 | 227 |
case(JointInterface::ID_EYES_RIGHT_LID_UPPER): |
| ... | ... | |
| 229 | 229 |
//use the upper value + 10 deg as close state: |
| 230 | 230 |
value = joint_interface->get_joint_min(JointInterface::ID_EYES_RIGHT_LID_UPPER) + 10.0; |
| 231 | 231 |
//overwrite last target_ |
| 232 |
joint_interface->set_target_position(joint_id, value, 0.0);
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| 232 |
joint_interface->set_target(joint_id, value, 0.0); |
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| 233 | 233 |
break; |
| 234 | 234 |
} |
| 235 | 235 |
} |
| ... | ... | |
| 268 | 268 |
void EyelidMotionGenerator::publish_targets(){
|
| 269 | 269 |
//publish values if there is an active gaze input within the last timerange |
| 270 | 270 |
if (gaze_target_input_active()){
|
| 271 |
joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_LID_UPPER);
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| 272 |
joint_interface->publish_target_position(JointInterface::ID_EYES_LEFT_LID_LOWER);
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| 273 |
joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_LID_UPPER);
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| 274 |
joint_interface->publish_target_position(JointInterface::ID_EYES_RIGHT_LID_LOWER);
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| 271 |
joint_interface->publish_target(JointInterface::ID_EYES_LEFT_LID_UPPER); |
|
| 272 |
joint_interface->publish_target(JointInterface::ID_EYES_LEFT_LID_LOWER); |
|
| 273 |
joint_interface->publish_target(JointInterface::ID_EYES_RIGHT_LID_UPPER); |
|
| 274 |
joint_interface->publish_target(JointInterface::ID_EYES_RIGHT_LID_LOWER); |
|
| 275 | 275 |
} |
| 276 | 276 |
} |
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