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.

*/

#include "humotion/server/eyebrow_motion_generator.h"

#include "humotion/server/server.h"

// using namespace std;

// using namespace humotion;

// using namespace humotion::server;

using humotion::server::EyebrowMotionGenerator;

//! constructor

EyebrowMotionGenerator::EyebrowMotionGenerator(JointInterface *j, Config *cfg) :

    MotionGenerator(j, cfg) {

}

//! destructor

EyebrowMotionGenerator::~EyebrowMotionGenerator() {

}

//! calculate joint targets

void EyebrowMotionGenerator::calculate_targets() {

    // printf("> humotion: calculating eyebrow targets\n");

    float eyebrow_left_target = requested_gaze_state_.eyebrow_left;

    float eyebrow_right_target = requested_gaze_state_.eyebrow_right;

    // store targets

    joint_interface_->set_target(JointInterface::ID_EYES_LEFT_BROW, eyebrow_left_target, 0.0);

    joint_interface_->set_target(JointInterface::ID_EYES_RIGHT_BROW, eyebrow_right_target, 0.0);

}

//! publish targets to motor boards:

void EyebrowMotionGenerator::publish_targets() {

    // publish values if there is an active gaze input within the last timerange

    if (gaze_target_input_active()) {

        joint_interface_->publish_target(JointInterface::ID_EYES_LEFT_BROW);

        joint_interface_->publish_target(JointInterface::ID_EYES_RIGHT_BROW);

    }

}