humotion

#pragma once

#include <yarp/dev/ControlBoardInterfaces.h>

#include <yarp/os/Network.h>

#include "icub_jointinterface.h"

/*

 * #include <humotion/server/server.h>

#include <yarp/os/RateThread.h>

#include <yarp/os/Time.h>

#include <yarp/os/Property.h>

#include <yarp/os/Port.h>

#include <yarp/dev/ControlBoardInterfaces.h>

#include "icub_data_receiver.h"

*/

class iCubFaceInterface {

public:

    iCubFaceInterface(std::string scope);

    ~iCubFaceInterface();

    void set_eyelid_angle(double angle);

    void set_eyebrow_angle(int id, double *target_angle);

    void set_mouth(double *target_angle);

private:

    double lid_angle;

    int lid_opening_previous;

    int previous_mouth_state;

    double target_angle_previous[iCubJointInterface::ICUB_JOINT_ID_ENUM_SIZE];

    std::string scope;

    yarp::os::BufferedPort<yarp::os::Bottle> emotion_port[4];

};