Revision 6de0fc2e src/server/controller.cpp

View differences:

src/server/controller.cpp
153 153 
        // in case we did not see this timestamp before, show a warning:
154 154 
        if (last_known_absolute_timestamp_ != relative_target_timestamp) {
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            printf("> WARNING: restored/guessed absolute target for unknown timestamp %f "
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                   "[this should not happen]\n", relative_target_timestamp.to_seconds());
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                   "[this should only happen during startup]\n", relative_target_timestamp.to_seconds());
157 157 
            last_known_absolute_target_pan_ = 0.0;
158 158 
            last_known_absolute_target_tilt_ = 0.0;
159 159 
            last_known_absolute_target_roll_ = 0.0;
......
196 196 
    absolute_gaze.pan   = pan + relative.pan;
197 197 
    absolute_gaze.tilt  = tilt + relative.tilt;
198 198 
    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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    //printf("tilt now = %4.1f, rel=%4.1f ===> %4.2f\n", tilt, relative.tilt, absolute_gaze.tilt);
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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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    // printf("tilt now = %4.1f, rel=%4.1f ===> %4.2f\n", tilt, relative.tilt, absolute_gaze.tilt);
201 201 

  		




  202
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    // store debug data:


  		




  203
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    store_debug_data("controller/last_known_absolute_target_pan", last_known_absolute_target_pan_);


  		




  204
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    store_debug_data("controller/pan", pan);


  		




  205
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    store_debug_data("controller/neck_pan", neck_pan);


  		




  206
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    store_debug_data("controller/absolute_gaze_pan", absolute_gaze.pan);


  		




  207
  
  
    
    // store_debug_data("controller/relative_timestamp", relative_target_timestamp.to_seconds());


  		




  208
  
  
    
    // printf("BEFORE DBG %f\n", relative.timestamp.to_seconds());


  		




  209
  
  
    
    std::srand(std::time(0)); // use current time as seed for random generator


  		




  210
  
  
    
    int random_variable = std::rand();


  		




  211
  
  
    
    store_debug_data("controller/relative_timestamp2", random_variable);


  		




  212
  
  
    
    printf("DBG %i\n", random_variable);


  		




  
  207
  
    

  		




  213
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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


  		




  215
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    // ros::Time past = now - ros::Duration(5.0);


  		












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