Revision b68e468e

View differences:

src/server/mouth_motion_generator.cpp
78 78 
    float distance_min_upper = unsafe_target_upper - min_upper;
79 79 
    if (distance_min_upper < 0){
80 80 
        //oops, we will get to close to the safe border, abort move!
81 
        printf("> collision on TOP [u=%4.2f l=%4.2f]\n",unsafe_target_upper, unsafe_target_lower);
81 
        //printf("> collision on TOP [u=%4.2f l=%4.2f]\n",unsafe_target_upper, unsafe_target_lower);
82 82 
        unsafe_target_upper = min_upper;
83 83 
        unsafe_target_lower = unsafe_target_upper + opening;
84 84 
    }
......
86 86 
    float distance_max_lower = max_lower - unsafe_target_lower;
87 87 
    if (distance_max_lower < 0){
88 88 
        //oops, we will get to close to the safe border, abort move!
89 
        printf("> collision on BOT[u=%4.2f l=%4.2f]\n",unsafe_target_upper, unsafe_target_lower);
89 
        //printf("> collision on BOT[u=%4.2f l=%4.2f]\n",unsafe_target_upper, unsafe_target_lower);
90 90 
        unsafe_target_lower = max_lower;
91 91 
        unsafe_target_upper = unsafe_target_lower - opening;
92 92 
    }

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