Revision 35b3ca25 src/server/neck_motion_generator.cpp

View differences:

src/server/neck_motion_generator.cpp
162 162 
    reflexxes_calculate_profile();
163 163 

  		




  164
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    //tell the joint if about the new values:


  		




  165
  
  
    
    joint_interface->set_target_position(JointInterface::ID_NECK_PAN,


  		




  166
  
  
    
                                         reflexxes_position_output->NewPositionVector->VecData[0],


  		




  167
  
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[0]);


  		




  
  165
  
    
    joint_interface->set_target(JointInterface::ID_NECK_PAN,


  		




  
  166
  
    
                                reflexxes_position_output->NewPositionVector->VecData[0],


  		




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


  		




  168
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    joint_interface->set_target_position(JointInterface::ID_NECK_TILT,


  		




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                                         reflexxes_position_output->NewPositionVector->VecData[1],


  		




  171
  
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[1]);


  		




  
  169
  
    
    joint_interface->set_target(JointInterface::ID_NECK_TILT,


  		




  
  170
  
    
                                reflexxes_position_output->NewPositionVector->VecData[1],


  		




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


  		




  172
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    joint_interface->set_target_position(JointInterface::ID_NECK_ROLL,


  		




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                                         reflexxes_position_output->NewPositionVector->VecData[2],


  		




  175
  
  
    
                                         reflexxes_position_output->NewVelocityVector->VecData[2]);


  		




  
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    joint_interface->set_target(JointInterface::ID_NECK_ROLL,


  		




  
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                                reflexxes_position_output->NewPositionVector->VecData[2],


  		




  
  175
  
    
                                reflexxes_position_output->NewVelocityVector->VecData[2]);


  		




  176
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    printf("\n%f %f %f %f %f DBG\n",


  		




  178
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            neck_pan_now, neck_pan_target,


  		




  ......




  186
  186
  
    
void NeckMotionGenerator::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()){


  		




  189
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_NECK_PAN);


  		




  190
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_NECK_TILT);


  		




  191
  
  
    
        joint_interface->publish_target_position(JointInterface::ID_NECK_ROLL);


  		




  
  189
  
    
        joint_interface->publish_target(JointInterface::ID_NECK_PAN);


  		




  
  190
  
    
        joint_interface->publish_target(JointInterface::ID_NECK_TILT);


  		




  
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        joint_interface->publish_target(JointInterface::ID_NECK_ROLL);


  		




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    }


  		




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}


  		




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