Revision 8db9ba4f src/server/middleware_rsb.cpp
| src/server/middleware_rsb.cpp | ||
|---|---|---|
| 46 | 46 |
using namespace rsb; |
| 47 | 47 |
using namespace rsb::patterns; |
| 48 | 48 |
|
| 49 |
WARNING: RSB interface might be deprtecated and needs some backporting |
|
| 50 |
from the ROS code. [todo] |
|
| 51 |
|
|
| 49 | 52 |
//! constructor |
| 50 | 53 |
MiddlewareRSB::MiddlewareRSB(string scope, Controller *c) : Middleware(scope, c){
|
| 51 | 54 |
printf("> using RSB middleware\n");
|
| ... | ... | |
| 114 | 117 |
|
| 115 | 118 |
GazeState gaze_state; |
| 116 | 119 |
|
| 117 |
if (msg->type() == rst::robot::HumotionGazeTarget::ABSOLUTE){
|
|
| 118 |
gaze_state.type = GazeState::ABSOLUTE; |
|
| 120 |
if (msg->gaze_type() == rst::robot::HumotionGazeTarget::ABSOLUTE){
|
|
| 121 |
gaze_state.gaze_type = GazeState::ABSOLUTE;
|
|
| 119 | 122 |
}else{
|
| 120 |
gaze_state.type = GazeState::RELATIVE; |
|
| 123 |
gaze_state.gaze_type = GazeState::RELATIVE;
|
|
| 121 | 124 |
} |
| 122 | 125 |
|
| 123 | 126 |
gaze_state.pan = msg->pan(); |
| ... | ... | |
| 138 | 141 |
gaze_state.eyeblink_request_left = msg->eyeblink_request_left(); |
| 139 | 142 |
gaze_state.eyeblink_request_right = msg->eyeblink_request_right(); |
| 140 | 143 |
|
| 141 |
gaze_state.timestamp = event->getMetaData().getCreateTime() / 1000.0; //createTime() returns milliseconds -> convert to seconds |
|
| 144 |
gaze_state.timestamp = msg->gaze_timestamp(); FIXME: convert RSB timestamp to our representation |
|
| 145 |
//event->getMetaData().getCreateTime() / 1000.0; //createTime() returns milliseconds -> convert to seconds |
|
| 142 | 146 |
|
| 143 | 147 |
controller->set_gaze_target(gaze_state); |
| 144 | 148 |
} |
Also available in: Unified diff