Revision 7531602c

View differences:

src/server/config.cpp
57 57 
    // [Guitton87] "Gaze control in humans: eye-head coordination during orienting movements ..."
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    // In order to allow better adaption to the robot capabilities humotion allows to
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    // scale the calculated velocity, value is given in percent (NOTE: 1.0 = 100% human velocity)
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    scale_velocity_neck = 0.5;
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    scale_velocity_neck = 0.4;
61 61 

  		




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    // scale acceleration


  		




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    scale_acceleration_neck = 0.7;


  		












  

    
      src/server/middleware_ros.cpp
    
  





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    config->threshold_angle_neck_saccade = dyn_config.threshold_angle_neck_saccade;


  		




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    config->threshold_angle_omr_limit = dyn_config.threshold_angle_omr_limit;


  		




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    config->use_neck_target_instead_of_position_eye = dyn_config.use_neck_target_instead_of_position_eye;


  		




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    // neck motion generation configuration


  		




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    config->scale_velocity_neck = dyn_config.scale_velocity_neck;


  		












  

    
      src/server/neck_motion_generator.cpp
    
  





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            joint_interface->get_ts_speed(JointInterface::ID_NECK_PAN).get_newest_value(),


  		




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            reflexxes_position_output->NewVelocityVector->VecData[0]


  		




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            );*/


  		




  
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    /*printf("\n%f %f %f %f %f #GAZELOG\n",


  		




  
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            boost::get_system_time().time_of_day().total_milliseconds()/1000.0,


  		




  
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            requested_gaze_state_.pan + requested_gaze_state_.pan_offset,


  		




  
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            get_current_gaze().pan,


  		




  
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            (get_current_position(JointInterface::ID_EYES_LEFT_LR) + get_current_position(JointInterface::ID_EYES_RIGHT_LR))/2.0,


  		




  
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            get_current_position(JointInterface::ID_NECK_PAN));*/


  		




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}


  		




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//! publish targets to motor boards:


  		












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