Revision 7ed40bef src/server/gaze_motion_generator.cpp

View differences:

src/server/gaze_motion_generator.cpp
92 92 
    float ud_max    = OMR_LIMIT_TRIGGERS_NECK_SACCADE * joint_interface->get_joint_max(JointInterface::ID_EYES_BOTH_UD);
93 93 

  		




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    if (


  		




  95
  
  
    
        (eye_target_l < left_min) || (eye_target_l > left_max) ||


  		




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        (eye_target_r < right_min) || (eye_target_r > right_max) ||


  		




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        (eye_target_ud < ud_min) || (eye_target_ud > ud_max)){


  		




  
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            (eye_target_l < left_min) || (eye_target_l > left_max) ||


  		




  
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            (eye_target_r < right_min) || (eye_target_r > right_max) ||


  		




  
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            (eye_target_ud < ud_min) || (eye_target_ud > ud_max)){


  		




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        //the eyeball gets close to OMR, activate a neck compensation motion:


  		




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        neck_saccade_omr = true;


  		




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    }else{


  		












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