Revision 6353defa src/server/middleware_ros.cpp
| src/server/middleware_ros.cpp | ||
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controller->set_mouth_target(mouth_state); |
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} |
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//! this provides a consistent transformation of ros ts to double |
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double MiddlewareROS::convert_ros_to_timestamp_ms(ros::Time t){
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return t.sec + t.nsec/1000000000.0; |
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} |
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| 105 | 101 |
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//! callback to handle incoming gaze target |
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void MiddlewareROS::incoming_gaze_target(const humotion::gaze::ConstPtr& msg){
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| ... | ... | |
| 131 | 127 |
}else{
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| 132 | 128 |
gaze_state.gaze_type = GazeState::GAZETYPE_RELATIVE; |
| 133 | 129 |
} |
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gaze_state.timestamp = convert_ros_to_timestamp_ms(msg->header.stamp);
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gaze_state.timestamp = msg->header.stamp.toSec();
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| 135 | 131 |
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controller->set_gaze_target(gaze_state); |
| 137 | 133 |
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