Revision 7ed40bef src/server/eyelid_motion_generator.cpp
| src/server/eyelid_motion_generator.cpp | ||
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| 102 | 102 |
handle_eyeblink_timeout(); |
| 103 | 103 |
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| 104 | 104 |
//eyeblinks override position target (if necessary) |
| 105 |
override_lids_for_eyeblink();
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override_lids_for_eyeblink(); |
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| 106 | 106 |
} |
| 107 | 107 |
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| 108 | 108 |
//! process any external blink requests |
| 109 | 109 |
void EyelidMotionGenerator::start_external_eyeblinks(int duration_left, int duration_right){
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| 110 | 110 |
//manual eyeblinks will ALWAYs get executed as we use a negative block timeout (=timout has already passed) |
| 111 | 111 |
if ((duration_left != 0) || (duration_right != 0)){
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eyeblink_blocked_timeout = get_system_time() - posix_time::seconds(100);
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eyeblink_blocked_timeout = get_system_time() - posix_time::seconds(100);
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| 113 | 113 |
} |
| 114 | 114 |
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| 115 | 115 |
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| ... | ... | |
| 212 | 212 |
//set upper to minimal allowed value (=as closed as possible) + a small offset |
| 213 | 213 |
//set lower to the same value (instead of max) in order to avoid collisions |
| 214 | 214 |
switch(joint_id){
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| 215 |
default:
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//no eyelid -> return
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return;
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case(JointInterface::ID_EYES_LEFT_LID_UPPER):
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case(JointInterface::ID_EYES_LEFT_LID_LOWER):
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//use the upper value + 10 deg as close state:
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value = joint_interface->get_joint_min(JointInterface::ID_EYES_LEFT_LID_UPPER) + 10.0;
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//overwrite last target_
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joint_interface->set_target_position(joint_id, value);
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break;
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case(JointInterface::ID_EYES_RIGHT_LID_UPPER):
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case(JointInterface::ID_EYES_RIGHT_LID_LOWER):
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//use the upper value + 10 deg as close state:
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value = joint_interface->get_joint_min(JointInterface::ID_EYES_RIGHT_LID_UPPER) + 10.0;
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//overwrite last target_
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joint_interface->set_target_position(joint_id, value);
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break;
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default: |
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//no eyelid -> return |
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return; |
|
| 218 |
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case(JointInterface::ID_EYES_LEFT_LID_UPPER): |
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case(JointInterface::ID_EYES_LEFT_LID_LOWER): |
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//use the upper value + 10 deg as close state: |
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value = joint_interface->get_joint_min(JointInterface::ID_EYES_LEFT_LID_UPPER) + 10.0; |
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//overwrite last target_ |
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joint_interface->set_target_position(joint_id, value); |
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break; |
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case(JointInterface::ID_EYES_RIGHT_LID_UPPER): |
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case(JointInterface::ID_EYES_RIGHT_LID_LOWER): |
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//use the upper value + 10 deg as close state: |
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value = joint_interface->get_joint_min(JointInterface::ID_EYES_RIGHT_LID_UPPER) + 10.0; |
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//overwrite last target_ |
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joint_interface->set_target_position(joint_id, value); |
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break; |
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| 234 | 234 |
} |
| 235 | 235 |
} |
| 236 | 236 |
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