humotion

/*

* This file is part of humotion

*

* Copyright(c) sschulz <AT> techfak.uni-bielefeld.de

* http://opensource.cit-ec.de/projects/humotion

*

* This file may be licensed under the terms of the

* GNU Lesser General Public License Version 3 (the ``LGPL''),

* or (at your option) any later version.

*

* Software distributed under the License is distributed

* on an ``AS IS'' basis, WITHOUT WARRANTY OF ANY KIND, either

* express or implied. See the LGPL for the specific language

* governing rights and limitations.

*

* You should have received a copy of the LGPL along with this

* program. If not, go to http://www.gnu.org/licenses/lgpl.html

* or write to the Free Software Foundation, Inc.,

* 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.

*

* The development of this software was supported by the

* Excellence Cluster EXC 277 Cognitive Interaction Technology.

* The Excellence Cluster EXC 277 is a grant of the Deutsche

* Forschungsgemeinschaft (DFG) in the context of the German

* Excellence Initiative.

*/

#pragma once

#include "reflexxes_motion_generator.h"

#include "timestamped_list.h"

namespace humotion{

namespace server{

class GazeMotionGenerator : public ReflexxesMotionGenerator{

public:

    GazeMotionGenerator(JointInterface *j, int dof, float t);

    ~GazeMotionGenerator();

    void set_gaze_target(GazeState s);

    static const float SACCADE_SPEED_THRESHOLD;

    static const float SACCADE_LATENCY;

protected:

    GazeState get_current_gaze();

    bool get_eye_saccade_active();

    bool neck_saccade_requested;

    bool neck_saccade_omr;

private:

    //constants

    static const float NECK_SACCADE_THRESHOLD;

    static const float EYE_SACCADE_SPEED_THRESHOLD;

    static const float OMR_LIMIT_TRIGGERS_NECK_SACCADE;

};

}

}