Revision 35b3ca25 src/server/mouth_motion_generator.cpp

View differences:

src/server/mouth_motion_generator.cpp
91 91 
        unsafe_target_upper = unsafe_target_lower - opening;
92 92 
    }
93 93 

  		




  94
  
  
    
    //tell the joint about the new values:


  		




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    joint_interface->set_target_position(upper_id, unsafe_target_upper, 0.0);


  		




  96
  
  
    
    joint_interface->set_target_position(lower_id, unsafe_target_lower, 0.0);


  		




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    //printf("> update_mouth_target(u=%d, l=%d) -> upper = %4.2f, lower = %4.2f\n",upper_id, lower_id,unsafe_target_upper,unsafe_target_lower);


  		




  
  94
  
    
    // tell the joint about the new values:


  		




  
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    joint_interface->set_target(upper_id, unsafe_target_upper, 0.0);


  		




  
  96
  
    
    joint_interface->set_target(lower_id, unsafe_target_lower, 0.0);


  		




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}


  		




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  ......




  139
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void MouthMotionGenerator::publish_targets(){


  		




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


  		




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    if (mouth_target_input_active()){


  		




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        joint_interface->publish_target_position(JointInterface::ID_LIP_LEFT_UPPER);


  		




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        joint_interface->publish_target_position(JointInterface::ID_LIP_LEFT_LOWER);


  		




  144
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_LIP_CENTER_UPPER);


  		




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        joint_interface->publish_target_position(JointInterface::ID_LIP_CENTER_LOWER);


  		




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


  		




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        joint_interface->publish_target_position(JointInterface::ID_LIP_RIGHT_LOWER);


  		




  
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        joint_interface->publish_target(JointInterface::ID_LIP_LEFT_UPPER);


  		




  
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        joint_interface->publish_target(JointInterface::ID_LIP_LEFT_LOWER);


  		




  
  142
  
    
        joint_interface->publish_target(JointInterface::ID_LIP_CENTER_UPPER);


  		




  
  143
  
    
        joint_interface->publish_target(JointInterface::ID_LIP_CENTER_LOWER);


  		




  
  144
  
    
        joint_interface->publish_target(JointInterface::ID_LIP_RIGHT_UPPER);


  		




  
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        joint_interface->publish_target(JointInterface::ID_LIP_RIGHT_LOWER);


  		




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    }


  		




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}


  		




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