Revision 5cd4364c

View differences:

examples/yarp_icub/src/icub_jointinterface.cpp
170 170 
    enum_id_bimap.insert(enum_id_bimap_entry_t(icubid, humotionid));
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}
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void iCubJointInterface::run() {


  		




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    float loop_duration_ms = 1000.0 / MAIN_LOOP_FREQUENCY;


  		




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    iCubDataReceiver *data_receiver = new iCubDataReceiver(loop_duration_ms, this);


  		












  

    
      examples/yarp_icub/src/main.cpp
    
  





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    icub_jointinterface->run();


  		




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    // pre-/re-configure some dyn reconfig variables


  		




  
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    int syscall_result;


  		




  
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    syscall_result = std::system(("rosrun dynamic_reconfigure dynparam set " + scope +


  		




  
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                 "/humotion/configuration " +


  		




  
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                " \"{'use_neck_target_instead_of_position_eye':false, " +


  		




  
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                "'eyelids_follow_eyemotion':false}\"").c_str());


  		




  
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    if (syscall_result != 0) {


  		




  
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        std::cerr << "ERROR: failed to set dynamic reconf parameters!" << std::endl;


  		




  
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        return EXIT_FAILURE;


  		




  
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    }


  		




  
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    while (humotion_server->ok()) {


  		




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        usleep(1000);


  		




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    }


  		












  

    
      src/server/eye_motion_generator.cpp
    
  





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    float neck_pan_now  = 0.0;


  		




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    float neck_tilt_now = 0.0;


  		




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    if (use_neck_target_instead_of_position_eye) {


  		




  
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    if (config->use_neck_target_instead_of_position_eye) {


  		




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        // position calc based on target


  		




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        neck_pan_now = joint_interface_->get_target_position(JointInterface::ID_NECK_PAN);


  		




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        neck_tilt_now = joint_interface_->get_target_position(JointInterface::ID_NECK_TILT);


  		












  

    
      src/server/middleware_ros.cpp
    
  





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        ROS_DEBUG_STREAM_NAMED("MiddlewareROS", "no active ros middleware, will call ros::init() "


  		




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               "now and we will call tick() periodically!\n");


  		




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        std::string node_name = "humotion_server__"+ scope;


  		




  
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        std::string node_name = scope;


  		




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        node_name.erase(std::remove(node_name.begin(), node_name.end(), '/'), node_name.end());


  		




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        ROS_DEBUG_STREAM_NAMED("MiddlewareROS", "registering on ROS as node " << node_name.c_str());


  		












  

    
      src/timestamped_list.cpp
    
  





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    // printf("> latency %3.2fms\n", (Timestamped().to_seconds() - target_ts.to_seconds())*1000.0);


  		




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    for ( timestamped_float_list_t::iterator it = tsf_list_.begin(); it != tsf_list_.end(); ++it ) {


  		




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        if (it->timestamp >= target_ts) {


  		




  
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        if (it->timestamp == target_ts) {


  		




  
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            // perfect match, return this value


  		




  
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            return it->value;


  		




  
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        } else if (it->timestamp > target_ts) {


  		




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            // ok found close target


  		




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            if (it == tsf_list_.begin()) {


  		




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                // no preceding element


  		












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