Revision 89374d69 src/client/middleware_rsb.cpp
| src/client/middleware_rsb.cpp | ||
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} |
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//! send mouth target to server |
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void MiddlewareRSB::send_gaze_target(){
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void MiddlewareRSB::send_gaze_target(int gaze_type){
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//build target packet: |
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boost::shared_ptr<rst::robot::HumotionGazeTarget> request(new rst::robot::HumotionGazeTarget()); |
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request->set_eyeblink_request_left(gaze_state.eyeblink_request_left); |
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request->set_eyeblink_request_right(gaze_state.eyeblink_request_right); |
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request->set_type(rst::robot::HumotionGazeTarget::ABSOLUTE); |
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if (gaze_state.type == GazeState::ABSOLUTE){
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request->set_type(rst::robot::HumotionGazeTarget::ABSOLUTE); |
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}else{
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request->set_type(rst::robot::HumotionGazeTarget::RELATIVE); |
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} |
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//add position to send queue |
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gaze_target_informer->publish(request); |
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