Revision 6d13138a src/server/eye_motion_generator.cpp

View differences:

src/server/eye_motion_generator.cpp
34 34 

  		




  35
  35
  
    
using humotion::server::EyeMotionGenerator;


  		




  36
  36
  
    

  		




  37
  
  
    
// saccade detection threshold in deg/s


  		




  38
  
  
    
const float EyeMotionGenerator::SACCADE_SPEED_THRESHOLD = 15.0;


  		




  39
  
  
    

  		




  40
  37
  
    
//! constructor


  		




  41
  
  
    
EyeMotionGenerator::EyeMotionGenerator(JointInterface *j) :


  		




  42
  
  
    
    GazeMotionGenerator(j, 3, 1.0/Server::MOTION_UPDATERATE) {


  		




  
  38
  
    
EyeMotionGenerator::EyeMotionGenerator(JointInterface *j, Config *cfg) :


  		




  
  39
  
    
    GazeMotionGenerator(j, cfg, 3, 1.0/Server::MOTION_UPDATERATE) {


  		




  43
  40
  
    
}


  		




  44
  41
  
    

  		




  45
  42
  
    

  		




  ......




  58
  55
  
    
                                         humotion::Timestamp timestamp) {


  		




  59
  56
  
    
    // get distance to target:


  		




  60
  57
  
    
    float distance_abs = fabs(target - current_position);


  		




  
  58
  
    

  		




  61
  59
  
    
    // get max speed: factor can be found in encyc britannica:


  		




  62
  60
  
    
    // "linear.... being 300° per second for 10° and 500° per second for 30°" (max=700)


  		




  63
  
  
    
    float max_speed = fmin(700.0, 10.0*distance_abs + 200.0);


  		




  
  61
  
    
    float max_velocity = fmin(700.0, 10.0*distance_abs + 200.0);


  		




  
  62
  
    

  		




  
  63
  
    
    // scale and limit max speed


  		




  
  64
  
    
    max_velocity = max_velocity * config->scale_velocity_eye;


  		




  
  65
  
    
    max_velocity = fmin(max_velocity, config->limit_velocity_eye);


  		




  
  66
  
    

  		




  64
  67
  
    
    // max accel: use data from:


  		




  65
  68
  
    
    // "Speed and Accuracy of Saccadic Eye Movements:


  		




  66
  69
  
    
    //      Characteristics of Impulse Variability in the Oculomotor System"


  		




  67
  70
  
    
    // http://www-personal.umich.edu/~kornblum/files/journal_exp_psych_HPP_15-3.pdf [table 2]


  		




  68
  71
  
    
    float max_accel = fmin(80000.0, 1526.53*distance_abs + 10245.4);


  		




  69
  72
  
    

  		




  
  73
  
    
    // scale and limit max acceleration


  		




  
  74
  
    
    max_accel = max_accel * config->scale_acceleration_eye;


  		




  
  75
  
    
    max_accel = fmin(max_accel, config->limit_acceleration_eye);


  		




  
  76
  
    

  		




  70
  77
  
    
    // feed reflexxes api with data


  		




  71
  78
  
    
    reflexxes_set_input(dof, target, current_position, current_velocity,


  		




  72
  
  
    
                        timestamp, max_speed, max_accel);


  		




  
  79
  
    
                        timestamp, max_velocity, max_accel);


  		




  73
  80
  
    
}


  		




  74
  81
  
    

  		




  75
  82
  
    
//! calculate joint targets


  		












Also available in:  Unified diff