Revision 3d980d8f

View differences:

examples/meka/src/mekajointinterface.cpp
34 34 
                return;
35 35 
            }
36 36 
            //ok, safe to access data
37 
            JointInterface::store_incoming_position(id, msg.position[i], timestamp);
38 
            JointInterface::store_incoming_speed(   id, msg.velocity[i], timestamp);
37 
            JointInterface::store_incoming_position(id, 180.0 / M_PI * msg.position[i], timestamp);
38 
            JointInterface::store_incoming_speed(   id, 180.0 / M_PI * msg.velocity[i], timestamp);
39 39 
        }
40 40 
    }
41 41 

  		












  

    
      src/server/controller.cpp
    
  





  111
  111
  
    
    tilt -= relative.tilt_offset;


  		




  112
  112
  
    
    roll -= relative.roll_offset;


  		




  113
  113
  
    

  		




  
  114
  
    

  		




  114
  115
  
    
    //build up absolute target:


  		




  115
  116
  
    
    absolute_gaze.gaze_type  = GazeState::GAZETYPE_ABSOLUTE;


  		




  116
  117
  
    
    absolute_gaze.pan   = pan + relative.pan;


  		




  117
  118
  
    
    absolute_gaze.tilt  = tilt + relative.tilt;


  		




  118
  119
  
    
    absolute_gaze.roll  = roll + relative.roll;


  		




  
  120
  
    
    printf("pan now = %4.1f, rel=%4.1f ===> %4.2f\n",pan,relative.pan,absolute_gaze.pan);


  		




  119
  121
  
    

  		




  120
  122
  
    
    //FIXME: use ros TF for that calculation...


  		




  121
  123
  
    
    //see http://wiki.ros.org/tf/Tutorials/Time%20travel%20with%20tf%20%28C%2B%2B%29


  		












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