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 "gaze_motion_generator.h"

namespace humotion{

namespace server{

class NeckMotionGenerator : public GazeMotionGenerator {

public:

    NeckMotionGenerator(JointInterface *j);

    ~NeckMotionGenerator();

    void calculate_targets();

    void publish_targets();

    void setup_neckmotion(int dof, float target, float current_position, float current_speed, Timestamp timestamp);

private:

    float get_breath_offset();

    GazeState previous_neck_target;

    GazeState  requested_neck_state;

    bool neck_saccade_reached_goal;

    bool neck_saccade_active;

    static const float CONST_GUITTON87_A;

    static const float CONST_GUITTON87_B;

    float breath_time;

    static const float CONST_BREATH_PERIOD;

    static const float CONST_BREATH_AMPLITUDE;

};

}

}