Revision 3d980d8f src/server/controller.cpp

View differences:

src/server/controller.cpp
111 111 
    tilt -= relative.tilt_offset;
112 112 
    roll -= relative.roll_offset;
113 113 

  		




  
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    //build up absolute target:


  		




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    absolute_gaze.gaze_type  = GazeState::GAZETYPE_ABSOLUTE;


  		




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    absolute_gaze.pan   = pan + relative.pan;


  		




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    absolute_gaze.tilt  = tilt + relative.tilt;


  		




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    absolute_gaze.roll  = roll + relative.roll;


  		




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


  		




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


  		




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


  		












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